Author: eudoxos
Date: 2009-07-19 22:24:24 +0200 (Sun, 19 Jul 2009)
New Revision: 1879
Added:
trunk/scripts/test/collider-sweep-simple.py
Modified:
trunk/pkg/common/DataClass/VelocityBins.cpp
trunk/pkg/common/DataClass/VelocityBins.hpp
trunk/scripts/linkdeps.py
trunk/scripts/test/gts-horse.py
Log:
1. Fix mathematical error with VelocityBins, verified by new script
scripts/test/collider-sweep-simple.py to be correct
2. Add py/ directory to skipped dirs for linkdeps.py so that it works on
current trunk
Modified: trunk/pkg/common/DataClass/VelocityBins.cpp
===================================================================
--- trunk/pkg/common/DataClass/VelocityBins.cpp 2009-07-18 21:07:49 UTC (rev
1878)
+++ trunk/pkg/common/DataClass/VelocityBins.cpp 2009-07-19 20:24:24 UTC (rev
1879)
@@ -11,11 +11,14 @@
CREATE_LOGGER(VelocityBins);
bool VelocityBins::incrementDists_shouldCollide(Real dt){
+ // const shared_ptr<Body>& b=Body::byId(0); LOG_INFO("Body #0: z off
"<<b->physicalParameters->se3.position[2]-b->physicalParameters->refSe3.position[2]<<",
velocity
"<<static_pointer_cast<RigidBodyParameters>(b->physicalParameters)->velocity[2]);
int i=0;
FOREACH(Bin& bin, bins){
- bin.currDistSq+=dt*dt*bin.currMaxVelSq; i++;
- if(bin.currDistSq>pow(bin.maxDist,2)){
- LOG_TRACE("Collide: bin"<<i<<": max dist
"<<bin.maxDist<<", current "<<sqrt(bin.currDistSq));
+ // NOTE: this mimics the integration scheme of NewtonsDampedLaw
+ // if you use different integration method, it must be changed
(or the infrastructure somehow modified to allow for that)
+ bin.currDist+=dt*sqrt(bin.currMaxVelSq); i++;
+ if(bin.currDist>bin.maxDist){
+ LOG_TRACE("Collide: bin"<<i<<": max dist
"<<bin.maxDist<<", current "<<bin.currDist);
return true;
}
}
@@ -38,7 +41,8 @@
if(refMaxVelSq<0){ refMaxVelSq=currMaxVelSq; /* first time */}
else {
// there should be some maximum speed change parameter,
so that bins do not change their limits (and therefore bodies, also!) too
often, depending on 1 particle going crazy
-
refMaxVelSq=min(max(refMaxVelSq/pow(1+maxRefRelStep,2),currMaxVelSq),refMaxVelSq*pow(1+maxRefRelStep,2));
+ if(maxRefRelStep>0)
refMaxVelSq=min(max(refMaxVelSq/pow(1+maxRefRelStep,2),currMaxVelSq),refMaxVelSq*pow(1+maxRefRelStep,2));
+ else refMaxVelSq=currMaxVelSq;
if(refMaxVelSq==0) refMaxVelSq=currMaxVelSq;
}
LOG_TRACE("new refMaxVel: "<<sqrt(refMaxVelSq));
@@ -52,7 +56,7 @@
(refMaxVelSq==0 ? 0: refSweepLength) :
refSweepLength/pow(binCoeff,(int)i)
);
- bin.currDistSq=0; bin.currMaxVelSq=0; bin.nBodies=0;
+ bin.currDist=0; bin.currMaxVelSq=0; bin.nBodies=0;
}
long moveFaster=0, moveSlower=0;
FOREACH(const shared_ptr<Body>& b, *rootBody->bodies){
Modified: trunk/pkg/common/DataClass/VelocityBins.hpp
===================================================================
--- trunk/pkg/common/DataClass/VelocityBins.hpp 2009-07-18 21:07:49 UTC (rev
1878)
+++ trunk/pkg/common/DataClass/VelocityBins.hpp 2009-07-19 20:24:24 UTC (rev
1879)
@@ -17,10 +17,10 @@
*/
class VelocityBins{
public:
- VelocityBins(int _nBins, Real _refMaxVelSq, Real _binCoeff=10, Real
_binOverlap=0.8): refMaxVelSq(_refMaxVelSq), binCoeff(_binCoeff),
binOverlap(_binOverlap), maxRefRelStep(100), nBins(_nBins), histInterval(200),
histLast(-1){}
+ VelocityBins(int _nBins, Real _refMaxVelSq, Real _binCoeff=10, Real
_binOverlap=0.8): refMaxVelSq(_refMaxVelSq), binCoeff(_binCoeff),
binOverlap(_binOverlap), maxRefRelStep(-1), nBins(_nBins), histInterval(200),
histLast(-1){}
typedef signed char binNo_t;
struct Bin{
- Bin(): binMinVelSq(-1), binMaxVelSq(-1), maxDist(0),
currDistSq(0), currMaxVelSq(0), nBodies(0){
+ Bin(): binMinVelSq(-1), binMaxVelSq(-1), maxDist(0),
currDist(0), currMaxVelSq(0), nBodies(0){
#ifdef YADE_OPENMP
threadMaxVelSq.resize(omp_get_max_threads());
#endif
@@ -30,7 +30,7 @@
// maximum distance that body in this bin can travel before it
goes out of its swept bbox
Real maxDist;
// distance so far traveled by the fastest body in this bin
(since last setBins)
- Real currDistSq;
+ Real currDist;
// maximum velSq over all bodies in this bin
Real currMaxVelSq;
// number of bodies in this bin (for informational purposes
only)
@@ -49,7 +49,7 @@
Real binCoeff;
// relative overlap beween bins; body will not be moved from faster bin
until its velocity is min*binOverlap; must be <=1
Real binOverlap;
- // maximum relative change of reference max velocity per invocation
+ // maximum relative change of reference max velocity per invocation (if
<0, disabled; this is the default)
Real maxRefRelStep;
// number of bins; must be >=1 and <=100 (artificial upper limit)
size_t nBins;
Modified: trunk/scripts/linkdeps.py
===================================================================
--- trunk/scripts/linkdeps.py 2009-07-18 21:07:49 UTC (rev 1878)
+++ trunk/scripts/linkdeps.py 2009-07-19 20:24:24 UTC (rev 1879)
@@ -17,7 +17,7 @@
def walkSourceFiles():
ret=[]
for root, dirs, files in os.walk(srcRoot,topdown=True):
- for d in
('.svn','mgpost','SpherePadder','QGLViewer','triangulation','sqlite3x','miniWm3'):
+ for d in
('.svn','mgpost','SpherePadder','QGLViewer','triangulation','sqlite3x','miniWm3','py'):
try: dirs.remove(d)
except ValueError: pass
for f in files:
Added: trunk/scripts/test/collider-sweep-simple.py
===================================================================
--- trunk/scripts/test/collider-sweep-simple.py 2009-07-18 21:07:49 UTC (rev
1878)
+++ trunk/scripts/test/collider-sweep-simple.py 2009-07-19 20:24:24 UTC (rev
1879)
@@ -0,0 +1,26 @@
+O.bodies.append(utils.sphere([0,0,10],.5))
+#O.bodies.append(utils.sphere([0,0,0],.5,dynamic=False))
+
+O.engines=[
+ BexResetter(),
+
BoundingVolumeMetaEngine([InteractingSphere2AABB(),InteractingFacet2AABB(),MetaInteractingGeometry2AABB()]),
+ InsertionSortCollider(label='collider'),
+ InteractionDispatchers(
+
[ef2_Sphere_Sphere_Dem3DofGeom(),ef2_Facet_Sphere_Dem3DofGeom()],
+ [SimpleElasticRelationships()],
+ [Law2_Dem3Dof_Elastic_Elastic()],
+ ),
+ GravityEngine(gravity=[0,0,-1e4]),
+ NewtonsDampedLaw(damping=.1)
+]
+collider['sweepLength'],collider['nBins'],collider['binCoeff']=.5,2,2
+O.dt=8e-2*utils.PWaveTimeStep()
+O.saveTmp()
+from yade import timing
+O.timingEnabled=True
+from yade import qt
+r=qt.Renderer()
+r['Body_bounding_volume']=True
+v=qt.View(); qt.Controller()
+v.ortho=True; #v.viewDir=O.bodies[0].phys.pos; v.lookAt=O.bodies[0].phys.pos;
v.upVector=(0,0,1);
+O.run(2,True)
Modified: trunk/scripts/test/gts-horse.py
===================================================================
--- trunk/scripts/test/gts-horse.py 2009-07-18 21:07:49 UTC (rev 1878)
+++ trunk/scripts/test/gts-horse.py 2009-07-19 20:24:24 UTC (rev 1879)
@@ -42,9 +42,7 @@
GravityEngine(gravity=[0,0,-1e4]),
NewtonsDampedLaw(damping=.1)
]
-#collider['sweepLength']=.2*dim0/30.
-#collider['nBins']=10
-#collider['binCoeff']=2
+collider['sweepLength'],collider['nBins'],collider['binCoeff']=.1*dim0/30.5,10,2
O.dt=1.5*utils.PWaveTimeStep()
O.saveTmp()
O.timingEnabled=True
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