diff options
Diffstat (limited to 'intern')
355 files changed, 44771 insertions, 9034 deletions
diff --git a/intern/CMakeLists.txt b/intern/CMakeLists.txt index 697d0b6b575..ac08b780ab8 100644 --- a/intern/CMakeLists.txt +++ b/intern/CMakeLists.txt @@ -24,7 +24,7 @@ # # ***** END GPL LICENSE BLOCK ***** -ADD_SUBDIRECTORY(SoundSystem) +ADD_SUBDIRECTORY(audaspace) ADD_SUBDIRECTORY(string) ADD_SUBDIRECTORY(ghost) ADD_SUBDIRECTORY(guardedalloc) @@ -33,11 +33,13 @@ ADD_SUBDIRECTORY(container) ADD_SUBDIRECTORY(memutil) ADD_SUBDIRECTORY(decimation) ADD_SUBDIRECTORY(iksolver) +ADD_SUBDIRECTORY(itasc) ADD_SUBDIRECTORY(boolop) ADD_SUBDIRECTORY(opennl) +ADD_SUBDIRECTORY(smoke) IF(WITH_ELBEEM) - ADD_SUBDIRECTORY(elbeem) + ADD_SUBDIRECTORY(elbeem) ENDIF(WITH_ELBEEM) ADD_SUBDIRECTORY(bsp) diff --git a/intern/Makefile b/intern/Makefile index 995dc56c7d3..32375f16b7a 100644 --- a/intern/Makefile +++ b/intern/Makefile @@ -32,7 +32,7 @@ SOURCEDIR = intern # include nan_subdirs.mk ALLDIRS = string ghost guardedalloc moto container memutil -ALLDIRS += decimation iksolver bsp SoundSystem opennl elbeem boolop +ALLDIRS += decimation iksolver itasc bsp SoundSystem opennl elbeem boolop smoke audaspace all:: @for i in $(ALLDIRS); do \ diff --git a/intern/SConscript b/intern/SConscript index bb8525d5ce5..241662b7088 100644 --- a/intern/SConscript +++ b/intern/SConscript @@ -1,7 +1,7 @@ #!/usr/bin/python Import ('env') -SConscript(['SoundSystem/SConscript', +SConscript(['audaspace/SConscript', 'string/SConscript', 'ghost/SConscript', 'guardedalloc/SConscript', @@ -10,8 +10,10 @@ SConscript(['SoundSystem/SConscript', 'memutil/SConscript/', 'decimation/SConscript', 'iksolver/SConscript', + 'itasc/SConscript', 'boolop/SConscript', - 'opennl/SConscript']) + 'opennl/SConscript', + 'smoke/SConscript']) # NEW_CSG was intended for intern/csg, but # getting it to compile is difficult diff --git a/intern/SoundSystem/CMakeLists.txt b/intern/SoundSystem/CMakeLists.txt deleted file mode 100644 index 9a370af2268..00000000000 --- a/intern/SoundSystem/CMakeLists.txt +++ /dev/null @@ -1,42 +0,0 @@ -# $Id$ -# ***** BEGIN GPL LICENSE BLOCK ***** -# -# This program is free software; you can redistribute it and/or -# modify it under the terms of the GNU General Public License -# as published by the Free Software Foundation; either version 2 -# of the License, or (at your option) any later version. -# -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. -# -# You should have received a copy of the GNU General Public License -# along with this program; if not, write to the Free Software Foundation, -# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -# -# The Original Code is Copyright (C) 2006, Blender Foundation -# All rights reserved. -# -# The Original Code is: all of this file. -# -# Contributor(s): Jacques Beaurain. -# -# ***** END GPL LICENSE BLOCK ***** - -SET(INC . intern ../moto/include ../string dummy openal sdl) - -IF(WITH_OPENAL) - FILE(GLOB SRC dummy/*.cpp intern/*.cpp openal/*.cpp sdl/*.cpp) - INCLUDE_DIRECTORIES(${OPENAL_INC} ${SDL_INC}) - STRING(REGEX MATCH ".*ramework.*" FRAMEWORK ${OPENAL_INC}) - IF(FRAMEWORK) - ADD_DEFINITIONS(-DAPPLE_FRAMEWORK_FIX) - ENDIF(FRAMEWORK) -ELSE(WITH_OPENAL) - FILE(GLOB SRC dummy/*.cpp intern/*.cpp) - ADD_DEFINITIONS(-DNO_SOUND) -ENDIF(WITH_OPENAL) - -BLENDERLIB(bf_soundsystem "${SRC}" "${INC}") -#, libtype=['core','player'], priority = [20,140] ) diff --git a/intern/SoundSystem/SConscript b/intern/SoundSystem/SConscript deleted file mode 100644 index 256b7904a0f..00000000000 --- a/intern/SoundSystem/SConscript +++ /dev/null @@ -1,20 +0,0 @@ -#!/usr/bin/python - -Import ('env') - -sources = env.Glob('dummy/*.cpp') + env.Glob('intern/*.cpp') - -incs = '. intern ../moto/include ../string dummy openal sdl' -defs = '' -if env['WITH_BF_OPENAL']: - sources += env.Glob('openal/*.cpp') + env.Glob('sdl/*.cpp') - incs += ' ' + env['BF_OPENAL_INC'] - incs += ' ' + env['BF_SDL_INC'] - defs = 'USE_OPENAL' -else: - defs = 'NO_SOUND' - -if not env['WITH_BF_SDL']: - defs += ' DISABLE_SDL' - -env.BlenderLib ('bf_soundsystem', sources, Split(incs), Split(defs), libtype=['intern','player'], priority = [25,135] ) diff --git a/intern/SoundSystem/SND_C-api.h b/intern/SoundSystem/SND_C-api.h deleted file mode 100644 index f8e439a9c26..00000000000 --- a/intern/SoundSystem/SND_C-api.h +++ /dev/null @@ -1,354 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SND_BLENDER_H -#define SND_BLENDER_H - -#ifdef __cplusplus -extern "C" { -#endif - -#include "SoundDefines.h" - -#define SND_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name - -SND_DECLARE_HANDLE(SND_AudioDeviceInterfaceHandle); -SND_DECLARE_HANDLE(SND_SceneHandle); -SND_DECLARE_HANDLE(SND_ObjectHandle); -SND_DECLARE_HANDLE(SND_ListenerHandle); - -/** - * set the specified type - */ -extern void SND_SetDeviceType(int device_type); - -/** - * get an audiodevice - */ -extern SND_AudioDeviceInterfaceHandle SND_GetAudioDevice(void); - -/** - * and let go of it - */ -extern void SND_ReleaseDevice(void); - -/** - * check if playback is desired - */ -extern int SND_IsPlaybackWanted(SND_SceneHandle scene); - -/** - * add memlocation to cache - */ -extern int SND_AddSample(SND_SceneHandle scene, - const char* filename, - void* memlocation, - int size); - -/** - * remove all samples - */ -extern void SND_RemoveAllSamples(SND_SceneHandle scene); - -/** - * forces the object to check its buffer, and fix it if it's wrong - */ -extern int SND_CheckBuffer(SND_SceneHandle scene, SND_ObjectHandle object); - -/** - * Creates a scene, initializes it and returns a handle to that scene. - * - * @param audiodevice: handle to the audiodevice. - */ -extern SND_SceneHandle SND_CreateScene(SND_AudioDeviceInterfaceHandle audiodevice); - -/** - * Stops all sounds, suspends the scene (so all resources will be freed) and deletes the scene. - * - * @param scene: handle to the soundscene. - */ -extern void SND_DeleteScene(SND_SceneHandle scene); - -/** - * Adds a soundobject to the scene, gets the buffer the sample is loaded into. - * - * @param scene: handle to the soundscene. - * @param object: handle to soundobject. - */ -extern void SND_AddSound(SND_SceneHandle scene, SND_ObjectHandle object); - -/** - * Removes a soundobject from the scene. - * - * @param scene: handle to the soundscene. - * @param object: handle to soundobject. - */ -extern void SND_RemoveSound(SND_SceneHandle scene, SND_ObjectHandle object); - -/** - * Removes all soundobjects from the scene. - * - * @param scene: handle to the soundscene. - */ -extern void SND_RemoveAllSounds(SND_SceneHandle scene); - -/** - * Stopss all soundobjects in the scene. - * - * @param scene: handle to the soundscene. - */ -extern void SND_StopAllSounds(SND_SceneHandle scene); - -/** - * Updates the listener, checks the status of all soundobjects, builds a list of all active - * objects, updates the active objects. - * - * @param audiodevice: handle to the audiodevice. - * @param scene: handle to the soundscene. - */ -extern void SND_Proceed(SND_AudioDeviceInterfaceHandle audiodevice, SND_SceneHandle scene); - -/** - * Returns a handle to the listener. - * - * @param scene: handle to the soundscene. - */ -extern SND_ListenerHandle SND_GetListener(SND_SceneHandle scene); - -/** - * Sets the gain of the listener. - * - * @param scene: handle to the soundscene. - * @param gain: factor the gain gets multiplied with. - */ -extern void SND_SetListenerGain(SND_SceneHandle scene, double gain); - -/** - * Sets a scaling to exaggerate or deemphasize the Doppler (pitch) shift resulting from the - * calculation. - * @attention $f' = dopplerfactor * f * frac{dopplervelocity - listener_velocity}{dopplervelocity + object_velocity}$ - * @attention f: frequency in sample (soundobject) - * @attention f': effective Doppler shifted frequency - * - * @param object: handle to soundobject. - * @param dopplerfactor: the dopplerfactor. - */ -extern void SND_SetDopplerFactor(SND_SceneHandle scene, double dopplerfactor); - -/** - * Sets the value of the propagation speed relative to which the source velocities are interpreted. - * @attention $f' = dopplerfactor * f * frac{dopplervelocity - listener_velocity}{dopplervelocity + object_velocity}$ - * @attention f: frequency in sample (soundobject) - * @attention f': effective Doppler shifted frequency - * - * @param object: handle to soundobject. - * @param dopplervelocity: the dopplervelocity. - */ -extern void SND_SetDopplerVelocity(SND_SceneHandle scene, double dopplervelocity); - -/** - * Creates a new soundobject and returns a handle to it. - */ -extern SND_ObjectHandle SND_CreateSound(void); - -/** - * Deletes a soundobject. - * - * @param object: handle to soundobject. - */ -extern void SND_DeleteSound(SND_ObjectHandle object); - -/** - * Sets a soundobject to SND_MUST_PLAY, so with the next proceed it will be updated and played. - * - * @param object: handle to soundobject. - */ -extern void SND_StartSound(SND_SceneHandle scene, SND_ObjectHandle object); - -/** - * Sets a soundobject to SND_MUST_STOP, so with the next proceed it will be stopped. - * - * @param object: handle to soundobject. - */ -extern void SND_StopSound(SND_SceneHandle scene, SND_ObjectHandle object); - -/** - * Sets a soundobject to SND_MUST_PAUSE, so with the next proceed it will be paused. - * - * @param object: handle to soundobject. - */ -extern void SND_PauseSound(SND_SceneHandle scene, SND_ObjectHandle object); - -/** - * Sets the name of the sample to reference the soundobject to it. - * - * @param object: handle to soundobject. - * @param samplename: the name of the sample - */ -extern void SND_SetSampleName(SND_ObjectHandle object, char* samplename); - -/** - * Sets the gain of a soundobject. - * - * @param object: handle to soundobject. - * @param gain: factor the gain gets multiplied with. - */ -extern void SND_SetGain(SND_ObjectHandle object, double gain); - -/** - * Sets the minimum gain of a soundobject. - * - * @param object: handle to soundobject. - * @param minimumgain: lower threshold for the gain. - */ -extern void SND_SetMinimumGain(SND_ObjectHandle object, double minimumgain); - -/** - * Sets the maximum gain of a soundobject. - * - * @param object: handle to soundobject. - * @param maximumgain: upper threshold for the gain. - */ -extern void SND_SetMaximumGain(SND_ObjectHandle object, double maximumgain); - -/** - * Sets the rollofffactor. The rollofffactor is a per-Source parameter the application - * can use to increase or decrease the range of a source by decreasing or increasing the - * attenuation, respectively. The default value is 1. The implementation is free to optimize - * for a rollofffactor value of 0, which indicates that the application does not wish any - * distance attenuation on the respective Source. - * - * @param object: handle to soundobject. - * @param rollofffactor: the rollofffactor. - */ -extern void SND_SetRollOffFactor(SND_ObjectHandle object, double rollofffactor); - -/** - * Sets the referencedistance at which the listener will experience gain. - * @attention G_dB = gain - 20 * log10(1 + rollofffactor * (dist - referencedistance)/referencedistance); - * - * @param object: handle to soundobject. - * @param distance: the reference distance. - */ -extern void SND_SetReferenceDistance(SND_ObjectHandle object, double referencedistance); - -/** - * Sets the pitch of a soundobject. - * - * @param object: handle to soundobject. - * @param pitch: pitchingfactor: 2.0 for doubling the frequency, 0.5 for half the frequency. - */ -extern void SND_SetPitch(SND_ObjectHandle object, double pitch); - -/** - * Sets the position a soundobject. - * - * @param object: handle to soundobject. - * @param position: position[3]. - */ -extern void SND_SetPosition(SND_ObjectHandle object, double* position); - -/** - * Sets the velocity of a soundobject. - * - * @param object: handle to soundobject. - * @param velocity: velocity[3]. - */ -extern void SND_SetVelocity(SND_ObjectHandle object, double* velocity); - -/** - * Sets the orientation of a soundobject. - * - * @param object: handle to soundobject. - * @param orientation: orientation[9]. - */ -extern void SND_SetOrientation(SND_ObjectHandle object, double* orientation); - -/** - * Sets the loopmode of a soundobject. - * - * @param object: handle to soundobject. - * @param loopmode type of the loop (SND_LOOP_OFF, SND_LOOP_NORMAL, SND_LOOP_BIDIRECTIONAL); - */ -extern void SND_SetLoopMode(SND_ObjectHandle object, int loopmode); - -/** - * Sets the looppoints of a soundobject. - * - * @param object: handle to soundobject. - * @param loopstart startpoint of the loop - * @param loopend endpoint of the loop - */ -extern void SND_SetLoopPoints(SND_ObjectHandle object, unsigned int loopstart, unsigned int loopend); - -/** - * Gets the gain of a soundobject. - * - * @param object: handle to soundobject. - */ -extern float SND_GetGain(SND_ObjectHandle object); - -/** - * Gets the pitch of a soundobject. - * - * @param object: handle to soundobject. - */ -extern float SND_GetPitch(SND_ObjectHandle object); - -/** - * Gets the looping of a soundobject. - * 0: SND_LOOP_OFF - * 1: SND_LOOP_NORMAL - * 2: SND_LOOP_BIDIRECTIONAL - * - * @param object: handle to soundobject. - */ -extern int SND_GetLoopMode(SND_ObjectHandle object); - -/** - * Gets the playstate of a soundobject. - * SND_UNKNOWN = -1 - * SND_INITIAL - * SND_MUST_PLAY - * SND_PLAYING - * SND_MUST_STOP - * SND_STOPPED - * SND_MUST_PAUSE - * SND_PAUSED - * SND_MUST_BE_DELETED - * - * @param object: handle to soundobject. - */ -extern int SND_GetPlaystate(SND_ObjectHandle object); - -#ifdef __cplusplus -} -#endif - -#endif - diff --git a/intern/SoundSystem/SND_CDObject.h b/intern/SoundSystem/SND_CDObject.h deleted file mode 100644 index c79f62d9862..00000000000 --- a/intern/SoundSystem/SND_CDObject.h +++ /dev/null @@ -1,83 +0,0 @@ -/* - * SND_CDObject.h - * - * Implementation for CD playback - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifndef __SND_CDOBJECT_H -#define __SND_CDOBJECT_H - -#include "SND_Object.h" - -class SND_CDObject : public SND_Object -{ -private: - - /** - * Private to enforce singleton - */ - SND_CDObject(); - SND_CDObject(const SND_CDObject&); - - static SND_CDObject* m_instance; - MT_Scalar m_gain; /* the gain of the object */ - int m_playmode; /* the way CD is played back (all, random, track, trackloop) */ - int m_track; /* the track for 'track' and 'trackloop' */ - int m_playstate; /* flag for current state of object */ - bool m_modified; - bool m_used; /* flag for checking if we used the cd, if not don't - call the stop cd at the end */ - -public: - static bool CreateSystem(); - static bool DisposeSystem(); - static SND_CDObject* Instance(); - - ~SND_CDObject(); - - void SetGain(MT_Scalar gain); - void SetPlaymode(int playmode); - void SetTrack(int track); - void SetPlaystate(int playstate); - void SetModified(bool modified); - void SetUsed(); - bool GetUsed(); - - bool IsModified() const; - - int GetTrack() const; - MT_Scalar GetGain() const; - int GetPlaymode() const; - int GetPlaystate() const; - -}; - -#endif //__SND_CDOBJECT_H - diff --git a/intern/SoundSystem/SND_DeviceManager.h b/intern/SoundSystem/SND_DeviceManager.h deleted file mode 100644 index 708db030519..00000000000 --- a/intern/SoundSystem/SND_DeviceManager.h +++ /dev/null @@ -1,79 +0,0 @@ -/* - * SND_DeviceManager.h - * - * singleton for creating, switching and deleting audiodevices - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifndef __SND_DEVICEMANAGER_H -#define __SND_DEVICEMANAGER_H - -#include "SND_IAudioDevice.h" - -class SND_DeviceManager -{ -public : - - /** - * a subscription is needed before instances are given away - * applications must call subscribe first, get an instance, and - * when they are finished with sound, unsubscribe - */ - static void Subscribe(); - static void Unsubscribe(); - - static SND_IAudioDevice* Instance(); - static void SetDeviceType(int device_type); - -private : - - /** - * Private to enforce singleton - */ - SND_DeviceManager(); - SND_DeviceManager(const SND_DeviceManager&); - ~SND_DeviceManager(); - - static SND_IAudioDevice* m_instance; - - /** - * The type of device to be created on a call - * to Instance(). - */ - static int m_device_type; - - /** - * Remember the number of subscriptions. - * if 0, delete the device - */ - static int m_subscriptions; -}; - -#endif //__SND_DEVICEMANAGER_H - diff --git a/intern/SoundSystem/SND_IAudioDevice.h b/intern/SoundSystem/SND_IAudioDevice.h deleted file mode 100644 index d6b3936e6ef..00000000000 --- a/intern/SoundSystem/SND_IAudioDevice.h +++ /dev/null @@ -1,343 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SND_IAUDIODEVICE -#define SND_IAUDIODEVICE - -#include "SND_SoundObject.h" -#include "SND_CDObject.h" -#include "SND_WaveCache.h" -#include "SND_WaveSlot.h" -#include "MT_Matrix3x3.h" - -class SND_IAudioDevice -{ -public: - - /** - * constructor - */ - SND_IAudioDevice() {}; - - /** - * destructor - */ - virtual ~SND_IAudioDevice() {}; - - /** - * check to see if initialization was successfull - * - * @return indication of succes - */ - virtual bool IsInitialized()=0; - - /** - * get the wavecache (which does sample (un)loading) - * - * @return pointer to the wavecache - */ - virtual SND_WaveCache* GetWaveCache() const =0; - - /** - * loads a sample into the device - * - * @param samplename the name of the sample - * @param memlocation pointer where the sample is stored - * @param size size of the sample in memory - * - * @return pointer to the slot with sample data - */ - virtual SND_WaveSlot* LoadSample(const STR_String& samplename, - void* memlocation, - int size)=0; - - /** - * remove a sample from the wavecache - * - * @param filename pointer to filename - */ -// virtual void RemoveSample(const char* filename)=0; - - /** - * remove all samples from the wavecache - */ - virtual void RemoveAllSamples()=0; - - /** - * get a new id from the device - * - * @param pObject pointer to soundobject - * - * @return indication of success - */ - virtual bool GetNewId(SND_SoundObject* pObject)=0; - - /** - * clear an id - * - * @param pObject pointer to soundobject - */ - virtual void ClearId(SND_SoundObject* pObject)=0; - - /** - * initialize the listener - */ - virtual void InitListener()=0; - - /** - * set the value of the propagation speed relative to which the - * source velocities are interpreted. - * f' = DOPPLER_FACTOR * f * (DOPPLER_VELOCITY - Vl) / (DOPPLER_VELOCITY + Vo) - * f: frequency in sample (soundobject) - * f': effective Doppler shifted frequency - * Vl: velocity listener - * Vo: velocity soundobject - * - * @param dopplervelocity scaling factor for doppler effect - */ - virtual void SetDopplerVelocity(MT_Scalar dopplervelocity) const =0; - - /** - * set a scaling to exaggerate or deemphasize the Doppler (pitch) - * shift resulting from the calculation. - * f' = DOPPLER_FACTOR * f * (DOPPLER_VELOCITY - Listener_velocity )/(DOPPLER_VELOCITY + object_velocity ) - * - * @param dopplerfactor scaling factor for doppler effect - */ - virtual void SetDopplerFactor(MT_Scalar dopplerfactor) const =0; - - /** - * set the roll-off factor - * - * @param rollofffactor a global volume scaling factor - */ - virtual void SetListenerRollOffFactor(MT_Scalar rollofffactor) const =0; - - /** - * make the context the current one - */ - virtual void MakeCurrent() const =0; - - /** - * update the device - */ - virtual void NextFrame() const =0; - - /** - * set the volume of the listener. - * - * @param gain the mastergain - */ - virtual void SetListenerGain(float gain) const =0; - - /** - * connect the buffer with the source - * - * @param id the id of the object - * @param buffer the buffer the sample is stored in - */ - virtual void SetObjectBuffer(int id, unsigned int buffer)=0; - - /** - * pause playback of the cd - * @param id the id of the object - * - * @return the state the object is in - */ - virtual int GetPlayState(int id) =0; - - /** - * play a sound belonging to an object. - * - * @param id the id of the object - */ - virtual void PlayObject(int id) =0; - - /** - * stop a sound belonging to an object. - * - * @param id the id of the object - */ - virtual void StopObject(int id) const =0; - - /** - * stop all sounds. - */ - virtual void StopAllObjects()=0; - - /** - * pause the sound belonging to an object. - * - * @param id the id of the object - */ - virtual void PauseObject(int id) const =0; - - /** - * set the sound to looping or non-looping. - * - * @param id the id of the object - * @param loopmode type of looping (no loop, normal, bidirectional) - */ - virtual void SetObjectLoop(int id, unsigned int loopmode) const =0; - - /** - * set the looppoints of a sound - * - * @param id the id of the object - * @param loopstart the startpoint of the loop (in samples) - * @param loopend the endpoint of the loop (in samples) - */ - virtual void SetObjectLoopPoints(int id, unsigned int loopstart, unsigned int loopend) const =0; - - /** - * set the pitch of the sound. - * - * @param id the id of the object - * @param pitch the pitch - */ - virtual void SetObjectPitch(int id, MT_Scalar pitch) const =0; - - /** - * set the gain of the sound. - * - * @param id the id of the object - * @param gain the gain - */ - virtual void SetObjectGain(int id, MT_Scalar gain) const =0; - - /** - * ROLLOFF_FACTOR is per-Source parameter the application can use to increase or decrease - * the range of a source by decreasing or increasing the attenuation, respectively. The - * default value is 1. The implementation is free to optimize for a ROLLOFF_FACTOR value - * of 0, which indicates that the application does not wish any distance attenuation on - * the respective Source. - * - * @param id the id of the object - * @param rolloff a per-source volume scaling factor - */ - virtual void SetObjectRollOffFactor(int id, MT_Scalar rolloff) const =0; - - /** - * min_gain indicates the minimal gain which is always guaranteed for this sound - * - * @param id the id of the object - * @param mingain the minimum gain of the object - */ - virtual void SetObjectMinGain(int id, MT_Scalar mingain) const =0; - - /** - * max_gain indicates the maximal gain which is always guaranteed for this sound - * - * @param id the id of the object - * @param maxgain the maximum gain of the object - */ - virtual void SetObjectMaxGain(int id, MT_Scalar maxgain) const =0; - /** - * set the distance at which the Listener will experience gain. - * G_dB = GAIN - 20*log10(1 + ROLLOFF_FACTOR*(dist-REFERENCE_DISTANCE)/REFERENCE_DISTANCE ); - * - * @param id the id of the object - * @param referencedistance the distance at which the listener will start hearing - */ - virtual void SetObjectReferenceDistance(int id, MT_Scalar referencedistance) const =0; - - /** - * set the position, velocity and orientation of a sound. - * - * @param id the id of the object - * @param position the position of the object - * @param velocity the velocity of the object - * @param orientation the orientation of the object - * @param lisposition the position of the listener - * @param rollofffactor the rollofffactor of the object - */ - virtual void SetObjectTransform(int id, - const MT_Vector3& position, - const MT_Vector3& velocity, - const MT_Matrix3x3& orientation, - const MT_Vector3& lisposition, - const MT_Scalar& rollofffactor) const =0; - - /** - * make a sound 2D - * - * @param id the id of the object - */ - virtual void ObjectIs2D(int id) const =0; - - /** - * tell the device we want cd suppport - */ - virtual void UseCD() const =0; - - /** - * start playback of the cd - * - * @param track the tracknumber to start playback from - */ - virtual void PlayCD(int track) const =0; - - /** - * pause playback of the cd (true == pause, false == resume) - */ - virtual void PauseCD(bool pause) const =0; - - /** - * stop playback of the cd - */ - virtual void StopCD() const =0; - - /** - * set the playbackmode of the cd - * SND_CD_ALL play all tracks - * SND_CD_TRACK play one track - * SND_CD_TRACKLOOP play one track looped - * SND_CD_RANDOM play all tracks in random order - * - * @param playmode playmode - */ - virtual void SetCDPlaymode(int playmode) const =0; - - /** - * set the volume playback of the cd - * - * @param gain the gain - */ - virtual void SetCDGain(MT_Scalar gain) const =0; - - virtual void StartUsingDSP() =0; - virtual float* GetSpectrum() =0; - virtual void StopUsingDSP() =0; - -protected: - - virtual void RevokeSoundObject(SND_SoundObject* pObject)=0; -}; - -#endif //SND_IAUDIODEVICE - diff --git a/intern/SoundSystem/SND_Object.h b/intern/SoundSystem/SND_Object.h deleted file mode 100644 index f23827974e3..00000000000 --- a/intern/SoundSystem/SND_Object.h +++ /dev/null @@ -1,54 +0,0 @@ -/* - * SND_Object.h - * - * Abstract sound object - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifndef __SND_OBJECT_H -#define __SND_OBJECT_H - -#include "GEN_List.h" -#include "MT_Matrix3x3.h" -#include "SoundDefines.h" - -/** - * SND_Object is an interface class for soundobjects, listeners and other - * kinds of sound related thingies. - */ - -class SND_Object : public GEN_Link -{ -public: - SND_Object() {}; - virtual ~SND_Object() {}; -}; - -#endif //__SND_OBJECT_H - diff --git a/intern/SoundSystem/SND_Scene.h b/intern/SoundSystem/SND_Scene.h deleted file mode 100644 index bb3ff932bce..00000000000 --- a/intern/SoundSystem/SND_Scene.h +++ /dev/null @@ -1,104 +0,0 @@ -/* - * SND_Scene.h - * - * The scene for sounds. - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifdef WIN32 -#pragma warning (disable:4786) // get rid of stupid stl-visual compiler debug warning -#endif //WIN32 - -#ifndef __SND_SCENE_H -#define __SND_SCENE_H - -#include "SoundDefines.h" -#include "SND_SoundObject.h" -#include "SND_CDObject.h" -#include "SND_SoundListener.h" -#include "SND_WaveSlot.h" - -#include "MT_Vector3.h" -#include "MT_Matrix3x3.h" -#include "STR_String.h" - -#include <set> - - -class SND_Scene -{ - std::set<class SND_SoundObject*> m_soundobjects; - - GEN_List m_activeobjects; - class SND_IAudioDevice* m_audiodevice; - class SND_WaveCache* m_wavecache; - class SND_SoundListener m_listener; - bool m_audio; // to check if audio works - bool m_audioplayback; // to check if audioplayback is wanted - - void UpdateListener(); - void BuildActiveList(MT_Scalar curtime); - void UpdateActiveObects(); - void UpdateCD(); - -public: - SND_Scene(SND_IAudioDevice* adi); - ~SND_Scene(); - - bool IsPlaybackWanted(); - - void AddActiveObject(SND_SoundObject* pObject, MT_Scalar curtime); - void RemoveActiveObject(SND_SoundObject* pObject); - void DeleteObjectWhenFinished(SND_SoundObject* pObject); - - void Proceed(); - - int LoadSample(const STR_String& samplename, - void* memlocation, - int size); - void RemoveAllSamples(); - bool CheckBuffer(SND_SoundObject* pObject); - bool IsSampleLoaded(STR_String& samplename); - - void AddObject(SND_SoundObject* pObject); - bool SetCDObject(SND_CDObject* cdobject); - void DeleteObject(SND_SoundObject* pObject); - void RemoveAllObjects(); - void StopAllObjects(); - int GetObjectStatus(SND_SoundObject* pObject) const; - - void SetListenerTransform(const MT_Vector3& pos, - const MT_Vector3& vel, - const MT_Matrix3x3& mat); - - SND_SoundListener* GetListener(); -}; - -#endif //__SND_SCENE_H - diff --git a/intern/SoundSystem/SND_SoundListener.h b/intern/SoundSystem/SND_SoundListener.h deleted file mode 100644 index 2f6a6e8cddd..00000000000 --- a/intern/SoundSystem/SND_SoundListener.h +++ /dev/null @@ -1,82 +0,0 @@ -/* - * SND_SoundListener.h - * - * A SoundListener is for sound what a camera is for vision. - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifndef __SND_SOUNDLISTENER_H -#define __SND_SOUNDLISTENER_H - -#include "SND_Object.h" - -class SND_SoundListener : public SND_Object -{ -public: - SND_SoundListener(); - virtual ~SND_SoundListener(); - - void SetStateFlag(unsigned int stateflags); - void SetGain(MT_Scalar gain); - void SetPosition(const MT_Vector3& pos); - void SetVelocity(const MT_Vector3& vel); - void SetOrientation(const MT_Matrix3x3& ori); - void SetDopplerFactor(MT_Scalar dopplerfactor); - void SetDopplerVelocity(MT_Scalar dopplervelocity); - void SetScale(MT_Scalar scale); - - void SetModified(bool modified); - bool IsModified() const; - - unsigned int GetStateFlags() const; - MT_Scalar GetGain() const; - MT_Vector3 GetPosition() const; - MT_Vector3 GetVelocity() const; - MT_Matrix3x3 GetOrientation(); - - MT_Scalar GetDopplerFactor() const; - MT_Scalar GetDopplerVelocity() const; - MT_Scalar GetScale() const; - -private: - void* m_listener; - bool m_modified; - - MT_Scalar m_gain; /* overall gain */ - MT_Vector3 m_position; /* position; left/right, up/down, in/out */ - MT_Vector3 m_velocity; /* velocity of the listener */ - MT_Matrix3x3 m_orientation; /* orientation of the listener */ - - MT_Scalar m_dopplerfactor; /* scaling factor for the Doppler (pitch) shift */ - MT_Scalar m_dopplervelocity; /* factor for the reference velocity (for Dopplereffect) */ - MT_Scalar m_scale; -}; - -#endif //__SND_SOUNDLISTENER_H - diff --git a/intern/SoundSystem/SND_SoundObject.h b/intern/SoundSystem/SND_SoundObject.h deleted file mode 100644 index 7bd43fb4e66..00000000000 --- a/intern/SoundSystem/SND_SoundObject.h +++ /dev/null @@ -1,159 +0,0 @@ -/* - * SND_SoundObject.h - * - * Implementation of the abstract sound object - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifndef __SND_SOUNDOBJECT_H -#define __SND_SOUNDOBJECT_H - -#include "SND_Object.h" -#include "STR_String.h" - -/** - * SND_SoundObject is a class for api independent sounddata storage conected to an actuator - */ - -class SND_SoundObject : public SND_Object -{ -private: - STR_String m_samplename; /* name of the sample */ - STR_String m_objectname; /* name of the object */ - unsigned int m_buffer; - - bool m_active; /* is the object active or not? */ - int m_id; - MT_Scalar m_lifespan; /* the lifespan of the sound seconds */ - MT_Scalar m_timestamp; - - MT_Scalar m_length; /* length of the sample in seconds */ - - MT_Scalar m_gain; /* the gain of the object */ - MT_Scalar m_rollofffactor; /* the scaling factor to increase or decrease the range - of a source by decreasing or increasing the - attenuation, respectively */ - MT_Scalar m_referencedistance;/* the distance at which the listener will experience - gain */ - MT_Scalar m_mingain; /* indicates the minimal gain which is always guaranteed - for this source */ - MT_Scalar m_maxgain; /* indicates the maximal gain which is always guaranteed - for this source */ - - MT_Scalar m_pitch; /* the pitch of the object */ - MT_Vector3 m_position; /* position; left/right, up/down, in/out */ - MT_Vector3 m_velocity; /* velocity of the object */ - MT_Matrix3x3 m_orientation; /* orientation of the object */ - unsigned int m_loopmode; /* loop normal or bidirectional? */ - unsigned int m_loopstart; /* start of looppoint in samples! */ - unsigned int m_loopend; /* end of looppoint in samples! */ - bool m_is3d; /* is the object 3D or 2D? */ - int m_playstate; /* flag for current state of object */ - bool m_modified; - unsigned int m_running; - bool m_highpriority; /* may the sound be ditched when we run out of voices? */ - -public: - - SND_SoundObject(); - ~SND_SoundObject(); - - void SetBuffer(unsigned int buffer); - void SetActive(bool active); - - void StartSound(); - void StopSound(); - void PauseSound(); - void DeleteWhenFinished(); - - void SetObjectName(STR_String objectname); - void SetSampleName(STR_String samplename); - void SetLength(MT_Scalar length); - - void SetPitch(MT_Scalar pitch); - void SetGain(MT_Scalar gain); - void SetMinGain(MT_Scalar mingain); - void SetMaxGain(MT_Scalar maxgain); - void SetRollOffFactor(MT_Scalar rollofffactor); - void SetReferenceDistance(MT_Scalar distance); - void SetPosition(const MT_Vector3& pos); - void SetVelocity(const MT_Vector3& vel); - void SetOrientation(const MT_Matrix3x3& orient); - void SetLoopMode(unsigned int loopmode); - void SetLoopStart(unsigned int loopstart); - void SetLoopEnd(unsigned int loopend); - void Set3D(bool threedee); - void SetPlaystate(int playstate); - void SetHighPriority(bool priority); - - void SetId(int id); - void SetLifeSpan(); - void SetTimeStamp(MT_Scalar timestamp); - - void SetModified(bool modified); - - bool IsLifeSpanOver(MT_Scalar curtime) const; - bool IsActive() const; - bool IsModified() const; - bool IsHighPriority() const; - - void InitRunning(); - bool IsRunning() const; - void AddRunning(); - - int GetId() const; - MT_Scalar GetLifeSpan() const; - MT_Scalar GetTimestamp() const; - - unsigned int GetBuffer(); - const STR_String& GetSampleName(); - const STR_String& GetObjectName(); - - MT_Scalar GetLength() const; - MT_Scalar GetGain() const; - MT_Scalar GetPitch() const; - - MT_Scalar GetMinGain() const; - MT_Scalar GetMaxGain() const; - MT_Scalar GetRollOffFactor() const; - MT_Scalar GetReferenceDistance() const; - - MT_Vector3 GetPosition() const; - MT_Vector3 GetVelocity() const; - MT_Matrix3x3 GetOrientation() const; - unsigned int GetLoopMode() const; - unsigned int GetLoopStart() const; - unsigned int GetLoopEnd() const; - bool Is3D() const; - int GetPlaystate() const; - -}; - -#endif //__SND_SOUNDOBJECT_H - diff --git a/intern/SoundSystem/SND_Utils.h b/intern/SoundSystem/SND_Utils.h deleted file mode 100644 index 82b7c69a595..00000000000 --- a/intern/SoundSystem/SND_Utils.h +++ /dev/null @@ -1,111 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SND_UTILS_H -#define SND_UTILS_H - -#include "SND_WaveSlot.h" - -#ifdef __cplusplus -extern "C" -{ -#endif - -typedef struct -{ - unsigned char riff[4]; - signed int size; - unsigned char type[4]; -} WavFileHeader; - -typedef struct -{ - unsigned short format; - unsigned short numberofchannels; - unsigned int samplerate; - unsigned int bytespersec; - unsigned short blockalignment; - unsigned short bitrate; -} WavFmtHeader; - -typedef struct -{ - unsigned short size; - unsigned short samplesperblock; -} WavFmtExHeader; - -typedef struct -{ - unsigned int Manufacturer; - unsigned int Product; - unsigned int SamplePeriod; - unsigned int Note; - unsigned int FineTune; - unsigned int SMPTEFormat; - unsigned int SMPTEOffest; - unsigned int loops; - unsigned int SamplerData; - struct - { - unsigned int Identifier; - unsigned int Type; - unsigned int Start; - unsigned int End; - unsigned int Fraction; - unsigned int Count; - } Loop[1]; -} WavSampleHeader; - -typedef struct -{ - unsigned char id[4]; - unsigned int size; -} WavChunkHeader; - -/** - * loads a sample and returns a pointer - */ -extern void* SND_LoadSample(char *filename); - -extern bool SND_IsSampleValid(const STR_String& name, void* memlocation); -extern unsigned int SND_GetSampleFormat(void* sample); -extern unsigned int SND_GetNumberOfChannels(void* sample); -extern unsigned int SND_GetSampleRate(void* sample); -extern unsigned int SND_GetBitRate(void* sample); -extern unsigned int SND_GetNumberOfSamples(void* sample, unsigned int sample_length); -extern unsigned int SND_GetHeaderSize(void* sample, unsigned int sample_length); -extern unsigned int SND_GetExtraChunk(void* sample); - -extern void SND_GetSampleInfo(signed char* sample, SND_WaveSlot* waveslot); - -#ifdef __cplusplus -} -#endif - -#endif - diff --git a/intern/SoundSystem/SND_WaveCache.h b/intern/SoundSystem/SND_WaveCache.h deleted file mode 100644 index 2c457797768..00000000000 --- a/intern/SoundSystem/SND_WaveCache.h +++ /dev/null @@ -1,66 +0,0 @@ -/* - * SND_WaveCache.h - * - * abstract wavecache, a way to organize samples - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifdef WIN32 -#pragma warning (disable:4786) // get rid of stupid stl-visual compiler debug warning -#endif //WIN32 - -#ifndef __SND_WAVECACHE_H -#define __SND_WAVECACHE_H - -#include "SND_WaveSlot.h" -#include "SoundDefines.h" -#include "SND_SoundObject.h" -#include <map> - -class SND_WaveCache -{ -public: - SND_WaveCache(); - virtual ~SND_WaveCache(); - - SND_WaveSlot* GetWaveSlot(const STR_String& samplename); - - void RemoveAllSamples(); - void RemoveSample(const STR_String& samplename, int buffer); - -private: - std::map<STR_String, SND_WaveSlot*> m_samplecache; - - SND_WaveSlot* m_bufferList[NUM_BUFFERS]; - - void FreeSamples(); -}; - -#endif //__SND_WAVECACHE_H - diff --git a/intern/SoundSystem/SND_WaveSlot.h b/intern/SoundSystem/SND_WaveSlot.h deleted file mode 100644 index 75cddfa36d8..00000000000 --- a/intern/SoundSystem/SND_WaveSlot.h +++ /dev/null @@ -1,92 +0,0 @@ -/* - * SND_WaveSlot.cpp - * - * class for storing sample related information - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifndef __SND_WAVESLOT_H -#define __SND_WAVESLOT_H - -#include "STR_String.h" - -class SND_WaveSlot -{ - STR_String m_samplename; - bool m_loaded; - void* m_data; - unsigned int m_buffer; - unsigned int m_sampleformat; - unsigned int m_numberofchannels; - unsigned int m_samplerate; - unsigned int m_bitrate; - unsigned int m_numberofsamples; - unsigned int m_filesize; - -public: - - SND_WaveSlot(): m_loaded(false), - m_data(NULL), - m_buffer(0), - m_sampleformat(0), - m_numberofchannels(0), - m_samplerate(0), - m_bitrate(0), - m_numberofsamples(0), - m_filesize(0) - {}; - ~SND_WaveSlot(); - - void SetSampleName(STR_String samplename); - void SetLoaded(bool loaded); - void SetData(void* data); - void SetBuffer(unsigned int buffer); - void SetSampleFormat(unsigned int sampleformat); - void SetNumberOfChannels(unsigned int numberofchannels); - void SetSampleRate(unsigned int samplerate); - void SetBitRate(unsigned int bitrate); - void SetNumberOfSamples(unsigned int numberofsamples); - void SetFileSize(unsigned int filesize); - - - const STR_String& GetSampleName(); - bool IsLoaded() const; - void* GetData(); - unsigned int GetBuffer() const; - unsigned int GetSampleFormat() const; - unsigned int GetNumberOfChannels() const; - unsigned int GetSampleRate() const; - unsigned int GetBitRate() const; - unsigned int GetNumberOfSamples() const; - unsigned int GetFileSize() const; - -}; - -#endif //__SND_WAVESLOT_H - diff --git a/intern/SoundSystem/SND_test/Makefile b/intern/SoundSystem/SND_test/Makefile deleted file mode 100644 index 279eeace0d8..00000000000 --- a/intern/SoundSystem/SND_test/Makefile +++ /dev/null @@ -1,48 +0,0 @@ -# -# $Id$ -# -# ***** BEGIN GPL LICENSE BLOCK ***** -# -# This program is free software; you can redistribute it and/or -# modify it under the terms of the GNU General Public License -# as published by the Free Software Foundation; either version 2 -# of the License, or (at your option) any later version. -# -# This program is distributed in the hope that it will be useful, -# but WITHOUT ANY WARRANTY; without even the implied warranty of -# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -# GNU General Public License for more details. -# -# You should have received a copy of the GNU General Public License -# along with this program; if not, write to the Free Software Foundation, -# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. -# -# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. -# All rights reserved. -# -# The Original Code is: all of this file. -# -# Contributor(s): none yet. -# -# ***** END GPL LICENSE BLOCK ***** -# -# - -LIBNAME = soundsystem -DIR = $(OCGDIR)/intern/SoundSystem -ALLTARGETS = $(OBJS) $(DIR)/$(DEBUG_DIR)SoundSystem - -include nan_compile.mk - -CPPFLAGS += $(NAN_LEVEL_1_WARNINGS) - -CPPFLAGS += -I$(NAN_MOTO)/include -CPPFLAGS += -I.. -I../SND_BlenderWaveCache -I../SND_OpenAL - -TESTLIB = $(OCGDIR)/gameengine/OpenALSoundSystem/$(DEBUG_DIR)libOpenALSoundSystem.a -TESTLIB += $(OCGDIR)/gameengine/BlenderWaveCache/$(DEBUG_DIR)libBlenderWaveCache.a -TESTLIB += $(OCGDIR)/intern/SoundSystem/$(DEBUG_DIR)libsoundsystem.a -TESTLIB += $(NAN_OPENAL)/lib/libopenal.a - -$(DIR)/$(DEBUG_DIR)SoundSystem: $(OBJS) $(TESTLIB) - $(CC) $(LDFLAGS) -o $@ $(OBJS) $(TESTLIB) -lm -pthread -ldl -lstdc++ diff --git a/intern/SoundSystem/SND_test/SND_test.c b/intern/SoundSystem/SND_test/SND_test.c deleted file mode 100644 index 0d19dc2e131..00000000000 --- a/intern/SoundSystem/SND_test/SND_test.c +++ /dev/null @@ -1,154 +0,0 @@ -/* SND_test.c nov 2000 -* -* testfile for the SND module -* -* janco verduin -* -* $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** -*/ - -#include "SND_C-api.h" -#include "BlenderWaveCacheCApi.h" -#include "OpenALC-Api.h" -#include <stdio.h> -#include <stdlib.h> - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -#if defined(WIN32) -#include <io.h> -#else -#include <unistd.h> -#endif -#include <fcntl.h> - -static int buf[3]; - -float oPos[3]={3.0, 0.0,-1.0}; -float oVel[3]={0.0, 0.0, 1.0}; -float oOri[6]={0.0, 0.0, 1.0, 0.0, 1.0, 0.0}; - -void* ReadFile(char *filename) -{ - int file, filelen; - void *data = NULL; - -#if defined(WIN32) - file = open(filename, O_BINARY|O_RDONLY); -#else - file = open(filename, 0|O_RDONLY); -#endif - - if (file == -1) { - printf("can't open file.\n"); - printf("press q for quit.\n"); - - } - else { - filelen = lseek(file, 0, SEEK_END); - lseek(file, 0, SEEK_SET); - - if (filelen != 0){ - data = malloc(filelen); - if (read(file, data, filelen) != filelen) { - free(data); - data = NULL; - } - } - close(file); - - } - return (data); -} - -int main(int argc, char* argv[]) -{ - int ch; - char* samplename = NULL; - void* sampleinmemory = NULL; - SND_CacheHandle wavecache = NULL; - SND_SceneHandle scene = NULL; - SND_ObjectHandle object = NULL; - - wavecache = SND_GetWaveCache(); - scene = SND_CreateOpenALScene(wavecache); - - samplename = "2.wav"; - sampleinmemory = ReadFile(samplename); - - if (sampleinmemory) { - - object = SND_CreateObject(); - SND_AddMemoryLocation(samplename, sampleinmemory); - SND_SetSampleName(object, samplename); - SND_AddObject(scene, object); - printf("go your gang...\n"); - printf("1: play\n"); - printf("2: stop\n"); - printf("q: quit\n"); - } - do - { - ch = getchar(); - ch = toupper(ch); - switch (ch) - { - case '1': - { - SND_SetPitch(object, 1.0); - SND_SetGain(object, 1.0); - SND_StartSound(object); - break; - } - case '2': - { - SND_StopSound(object); - break; - } - default: - break; - } - - SND_Proceed(scene); - - } while (ch != 'Q'); - - if (object) { - - SND_RemoveObject(scene, object); - SND_DeleteObject(object); - } - - SND_DeleteScene(scene); - SND_DeleteCache(); - - return 0; - -} diff --git a/intern/SoundSystem/SoundDefines.h b/intern/SoundSystem/SoundDefines.h deleted file mode 100644 index 5238507c866..00000000000 --- a/intern/SoundSystem/SoundDefines.h +++ /dev/null @@ -1,107 +0,0 @@ -/* - * SoundDefines.h - * - * this is where all kinds of defines are stored - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifndef __SOUNDDEFINES_H -#define __SOUNDDEFINES_H - -/* the types of devices */ -enum -{ - snd_e_dummydevice = 0, - snd_e_openaldevice -}; - -/* general stuff */ -#define NUM_BUFFERS 128 -#define NUM_SOURCES 24 /* 24 is the limit for openal on windows, was 16 in 2.47 and previous */ - -/* openal related stuff */ -#define AL_LOOPING 0x1007 - -/* activelist defines */ -enum -{ - SND_REMOVE_ACTIVE_OBJECT = 0, - SND_ADD_ACTIVE_OBJECT, - SND_DO_NOTHING -}; - -/* playstate flags */ -enum -{ - SND_UNKNOWN = -1, - SND_INITIAL, - SND_MUST_PLAY, - SND_PLAYING, - SND_MUST_STOP, - SND_STOPPED, - SND_MUST_PAUSE, - SND_PAUSED, - SND_MUST_RESUME, - SND_MUST_STOP_WHEN_FINISHED, - SND_MUST_BE_DELETED -}; - -/* loopmodes */ -enum -{ - SND_LOOP_OFF = 0, - SND_LOOP_NORMAL, - SND_LOOP_BIDIRECTIONAL -}; - - -/* cd playstate flags */ -enum -{ - SND_CD_ALL = 0, - SND_CD_TRACK, - SND_CD_TRACKLOOP -}; - -/* sample types */ -enum -{ - SND_WAVE_FORMAT_UNKNOWN = 0, - SND_WAVE_FORMAT_PCM, - SND_WAVE_FORMAT_ADPCM, - SND_WAVE_FORMAT_ALAW = 6, - SND_WAVE_FORMAT_MULAW, - SND_WAVE_FORMAT_DIALOGIC_OKI_ADPCM = 17, - SND_WAVE_FORMAT_CONTROL_RES_VQLPC = 34, - SND_WAVE_FORMAT_GSM_610 = 49, - SND_WAVE_FORMAT_MPEG3 = 85 -}; - -#endif //__SOUNDDEFINES_H - diff --git a/intern/SoundSystem/dummy/SND_DummyDevice.cpp b/intern/SoundSystem/dummy/SND_DummyDevice.cpp deleted file mode 100644 index 672c73e9c52..00000000000 --- a/intern/SoundSystem/dummy/SND_DummyDevice.cpp +++ /dev/null @@ -1,52 +0,0 @@ -/* - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - * SND_DummyDevice derived from SND_IAudioDevice - */ - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -#ifdef WIN32 -#pragma warning (disable:4786) // get rid of stupid stl-visual compiler debug warning -#endif //WIN32 - -#include "SND_DummyDevice.h" - -SND_DummyDevice::SND_DummyDevice() -{ -} - -SND_DummyDevice::~SND_DummyDevice() -{ -#ifdef ONTKEVER - printf("SND_DummyDevice destructor"); -#endif -} - - diff --git a/intern/SoundSystem/dummy/SND_DummyDevice.h b/intern/SoundSystem/dummy/SND_DummyDevice.h deleted file mode 100644 index 988f731d1bf..00000000000 --- a/intern/SoundSystem/dummy/SND_DummyDevice.h +++ /dev/null @@ -1,93 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SND_DUMMYDEVICE -#define SND_DUMMYDEVICE - -#include "SND_AudioDevice.h" - -class SND_DummyDevice : public SND_AudioDevice -{ -public: - SND_DummyDevice(); - ~SND_DummyDevice(); - - bool Init() { return false; } - - SND_WaveSlot* LoadSample(const STR_String& samplename, - void* memlocation, - int size) { return NULL; } - - void InitListener() {}; - void SetListenerGain(float gain) const {}; - void SetDopplerVelocity(MT_Scalar dopplervelocity) const {}; - void SetDopplerFactor(MT_Scalar dopplerfactor) const {}; - void SetListenerRollOffFactor(MT_Scalar rollofffactor) const {}; - - void MakeCurrent() const {}; - - void NextFrame() const {}; - - void SetObjectBuffer(int id, unsigned int buffer) {}; - - int GetPlayState(int id) { return SND_UNKNOWN; } - void PlayObject(int id) {}; - void StopObject(int id) const {}; - void StopAllObjects() {}; - void PauseObject(int id) const {}; - - void SetObjectLoop(int id, unsigned int loopmode) const {}; - void SetObjectLoopPoints(int id, unsigned int loopstart, unsigned int loopend) const {}; - void SetObjectPitch(int id, MT_Scalar pitch) const {}; - void SetObjectGain(int id, MT_Scalar gain) const {}; - void SetObjectMinGain(int id, MT_Scalar mingain) const {}; - void SetObjectMaxGain(int id, MT_Scalar maxgain) const {}; - void SetObjectRollOffFactor(int id, MT_Scalar rolloff) const {}; - void SetObjectReferenceDistance(int id, MT_Scalar distance) const {}; - - void SetObjectTransform(int id, - const MT_Vector3& position, - const MT_Vector3& velocity, - const MT_Matrix3x3& orientation, - const MT_Vector3& lisposition, - const MT_Scalar& rollofffactor) const {}; - void ObjectIs2D(int id) const {}; - - void PlayCD(int track) const {}; - void PauseCD(bool pause) const {}; - void StopCD() const {}; - void SetCDPlaymode(int playmode) const {}; - void SetCDGain(MT_Scalar gain) const {}; - - void StartUsingDSP() {}; - float* GetSpectrum() { return NULL; } - void StopUsingDSP() {}; -}; - -#endif //SND_DUMMYDEVICE - diff --git a/intern/SoundSystem/intern/SND_AudioDevice.cpp b/intern/SoundSystem/intern/SND_AudioDevice.cpp deleted file mode 100644 index 4a5c0e2c498..00000000000 --- a/intern/SoundSystem/intern/SND_AudioDevice.cpp +++ /dev/null @@ -1,242 +0,0 @@ -/** - * $Id$ - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#include "SND_AudioDevice.h" -#include "SND_SoundObject.h" - -#ifdef WIN32 -// This warning tells us about truncation of __long__ stl-generated names. -// It can occasionally cause DevStudio to have internal compiler warnings. -#pragma warning( disable : 4786 ) -#endif - - -SND_AudioDevice::SND_AudioDevice() -{ - m_wavecache = NULL; - m_audio = false; - - for (int i = 0; i < NUM_SOURCES; i++) - { - m_idObjectArray[i] = new SND_IdObject(); - m_idObjectArray[i]->SetId(i); - m_idObjectArray[i]->SetSoundObject(NULL); - m_idObjectList.addTail(m_idObjectArray[i]); - } -} - - - -SND_AudioDevice::~SND_AudioDevice() -{ - for (int i = 0; i < NUM_SOURCES; i++) - { - delete m_idObjectArray[i]; - m_idObjectArray[i] = NULL; - } - - if (m_wavecache) - { - delete m_wavecache; - m_wavecache = NULL; - } -} - - - -bool SND_AudioDevice::IsInitialized() -{ - return m_audio; -} - - - -SND_WaveCache* SND_AudioDevice::GetWaveCache() const -{ - return m_wavecache; -} - - - -/* seeks an unused id and returns it */ -bool SND_AudioDevice::GetNewId(SND_SoundObject* pObject) -{ -#ifdef ONTKEVER - printf("SND_AudioDevice::GetNewId\n"); -#endif - - bool result = false; - - // first, get the oldest (the first) idobject - SND_IdObject* pIdObject = (SND_IdObject*)m_idObjectList.getHead(); - - if (pIdObject->isTail()) - { - } - else - { - // find the first id object which doesn't have a high priority soundobject - bool ThisSoundMustStay = false; - bool OutOfIds = false; - - do - { - // if no soundobject present, it's seat may be taken - if (pIdObject->GetSoundObject()) - { - // and also if it ain't highprio - if (pIdObject->GetSoundObject()->IsHighPriority()) - { - ThisSoundMustStay = true; - pIdObject = (SND_IdObject*)pIdObject->getNext(); - - // if the last one is a priority sound too, then there are no id's left - // and we won't add any new sounds - if (pIdObject->isTail()) - OutOfIds = true; - } - else - { - ThisSoundMustStay = false; - } - } - else - { - ThisSoundMustStay = false; - } - - } while (ThisSoundMustStay && !OutOfIds); - - if (!OutOfIds) - { - SND_SoundObject* oldobject = pIdObject->GetSoundObject(); - - // revoke the old object if present - if (oldobject) - { -#ifdef ONTKEVER - printf("oldobject: %x\n", oldobject); -#endif - RevokeSoundObject(oldobject); - } - - // set the new soundobject into the idobject - pIdObject->SetSoundObject(pObject); - - // set the id into the soundobject - int id = pIdObject->GetId(); - pObject->SetId(id); - - // connect the new id to the buffer the sample is stored in - SetObjectBuffer(id, pObject->GetBuffer()); - - // remove the idobject from the list and add it in the back again - pIdObject->remove(); - m_idObjectList.addTail(pIdObject); - - result = true; - } - } - - return result; -} - - - -void SND_AudioDevice::ClearId(SND_SoundObject* pObject) -{ -#ifdef ONTKEVER - printf("SND_AudioDevice::ClearId\n"); -#endif - - if (pObject) - { - int id = pObject->GetId(); - - if (id != -1) - { - // lets get the idobject belonging to the soundobject - SND_IdObject* pIdObject = m_idObjectArray[id]; - SND_SoundObject* oldobject = pIdObject->GetSoundObject(); - - if (oldobject) - { - RevokeSoundObject(oldobject); - - // clear the idobject from the soundobject - pIdObject->SetSoundObject(NULL); - } - - // remove the idobject and place it in front - pIdObject->remove(); - m_idObjectList.addHead(pIdObject); - } - } -} - - - -void SND_AudioDevice::RevokeSoundObject(SND_SoundObject* pObject) -{ -#ifdef ONTKEVER - printf("SND_AudioDevice::RevokeSoundObject\n"); -#endif - - // stop the soundobject - int id = pObject->GetId(); - - if (id >= 0 && id < NUM_SOURCES) - { - StopObject(id); - - // remove the object from the 'activelist' - pObject->SetActive(false); - -#ifdef ONTKEVER - printf("pObject->remove();\n"); -#endif - } - - // make sure its id is invalid - pObject->SetId(-1); -} - -/* -void SND_AudioDevice::RemoveSample(const char* filename) -{ - if (m_wavecache) - m_wavecache->RemoveSample(filename); -} -*/ - -void SND_AudioDevice::RemoveAllSamples() -{ - if (m_wavecache) - m_wavecache->RemoveAllSamples(); -} - diff --git a/intern/SoundSystem/intern/SND_AudioDevice.h b/intern/SoundSystem/intern/SND_AudioDevice.h deleted file mode 100644 index 54e8feea90e..00000000000 --- a/intern/SoundSystem/intern/SND_AudioDevice.h +++ /dev/null @@ -1,115 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SND_AUDIODEVICE -#define SND_AUDIODEVICE - -#include "SND_IAudioDevice.h" -#include "SoundDefines.h" -#include "SND_IdObject.h" - -class SND_AudioDevice : public SND_IAudioDevice -{ -public: - SND_AudioDevice(); - virtual ~SND_AudioDevice(); - - virtual bool IsInitialized(); - - SND_WaveCache* GetWaveCache() const; - - bool GetNewId(SND_SoundObject* pObject); - void ClearId(SND_SoundObject* pObject); - - void UseCD() const {}; - - /* to be implemented in derived class - - virtual SND_WaveSlot* LoadSample(const STR_String& samplename, - void* memlocation, - int size) =0; - */ -// void RemoveSample(const char* filename); - void RemoveAllSamples(); - - /* to be implemented in derived class - - virtual void InitListener()=0; - virtual void SetListenerGain(float gain) const =0; - virtual void SetDopplerVelocity(MT_Scalar dopplervelocity) const =0; - virtual void SetDopplerFactor(MT_Scalar dopplerfactor) const =0; - virtual void SetListenerRollOffFactor(MT_Scalar rollofffactor) const =0; - - virtual void MakeCurrent() const =0; - - virtual void UpdateDevice() const =0; - - virtual void SetObjectBuffer(int id, unsigned int buffer)=0; - virtual int GetPlayState(int id)=0; - virtual void PlayObject(int id)=0; - virtual void StopObject(int id) const =0; - virtual void StopAllObjects()=0; - virtual void PauseObject(int id) const =0; - - virtual void SetObjectLoop(int id, bool loop) const =0; - virtual void SetObjectLoopPoints(int id, unsigned int loopstart, unsigned int loopend) const =0; - virtual void SetObjectPitch(int id, MT_Scalar pitch) const =0; - virtual void SetObjectGain(int id, MT_Scalar gain) const =0; - virtual void SetObjectRollOffFactor(int id, MT_Scalar rolloff) const =0; - virtual void SetObjectMinGain(int id, MT_Scalar mingain) const =0; - virtual void SetObjectMaxGain(int id, MT_Scalar maxgain) const =0; - virtual void SetObjectReferenceDistance(int id, MT_Scalar referencedistance) const =0; - - virtual void SetObjectTransform(int id, - const MT_Vector3& position, - const MT_Vector3& velocity, - const MT_Matrix3x3& orientation, - const MT_Vector3& lisposition, - const MT_Scalar& rollofffactor) const =0; - virtual void ObjectIs2D(int id) const =0; - - virtual void PlayCD(int track) const =0; - virtual void PauseCD(bool pause) const =0; - virtual void StopCD() const =0; - virtual void SetCDPlaymode(int playmode) const =0; - virtual void SetCDGain(MT_Scalar gain) const =0; - virtual float* GetSpectrum() =0; - */ - -protected: - bool m_audio; - GEN_List m_idObjectList; - SND_IdObject* m_idObjectArray[NUM_SOURCES]; - SND_WaveCache* m_wavecache; - -private: - void RevokeSoundObject(SND_SoundObject* pObject); -}; - -#endif //SND_AUDIODEVICE - diff --git a/intern/SoundSystem/intern/SND_C-api.cpp b/intern/SoundSystem/intern/SND_C-api.cpp deleted file mode 100644 index 09846269dcc..00000000000 --- a/intern/SoundSystem/intern/SND_C-api.cpp +++ /dev/null @@ -1,392 +0,0 @@ -/* - * SND_C-Api.cpp - * - * C Api for soundmodule - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -#include "SND_C-api.h" -#include "SND_DeviceManager.h" -#include "SND_Scene.h" - -#ifdef WIN32 -#pragma warning (disable:4786) // get rid of stupid stl-visual compiler debug warning -#endif //WIN32 - - - -void SND_SetDeviceType(int device_type) -{ - SND_DeviceManager::SetDeviceType(device_type); -} - - - -SND_AudioDeviceInterfaceHandle SND_GetAudioDevice() -{ - SND_IAudioDevice* audiodevice = NULL; - - SND_DeviceManager::Subscribe(); - audiodevice = SND_DeviceManager::Instance(); - - if (!audiodevice->IsInitialized()) - { - SND_DeviceManager::SetDeviceType(snd_e_dummydevice); - audiodevice = SND_DeviceManager::Instance(); - } - - return (SND_AudioDeviceInterfaceHandle)audiodevice; -} - - - -void SND_ReleaseDevice() -{ - SND_DeviceManager::Unsubscribe(); -} - - - -int SND_IsPlaybackWanted(SND_SceneHandle scene) -{ - assert(scene); - bool result = ((SND_Scene*)scene)->IsPlaybackWanted(); - - return (int)result; -} - - - -// create a scene -SND_SceneHandle SND_CreateScene(SND_AudioDeviceInterfaceHandle audiodevice) -{ - // initialize sound scene and object - SND_Scene* scene = new SND_Scene((SND_IAudioDevice*)audiodevice); - - return (SND_SceneHandle)scene; -} - - - -void SND_DeleteScene(SND_SceneHandle scene) -{ - assert(scene); - delete (SND_Scene*)scene; -} - - - -int SND_AddSample(SND_SceneHandle scene, - const char* filename, - void* memlocation, - int size) -{ - assert(scene); - assert(memlocation); - int buffer = ((SND_Scene*)scene)->LoadSample(filename, memlocation, size); - - return buffer; -} - - - -void SND_RemoveAllSamples(SND_SceneHandle scene) -{ - assert(scene); - ((SND_Scene*)scene)->RemoveAllSamples(); -} - - - -int SND_CheckBuffer(SND_SceneHandle scene, SND_ObjectHandle object) -{ - assert(scene); - assert(object); - int result = (int)((SND_Scene*)scene)->CheckBuffer((SND_SoundObject*)object); - - return result; -} - - - -void SND_AddSound(SND_SceneHandle scene, SND_ObjectHandle object) -{ - assert(scene); - assert(object); - ((SND_Scene*)scene)->AddObject((SND_SoundObject *)object); -} - - - -void SND_RemoveSound(SND_SceneHandle scene, SND_ObjectHandle object) -{ - assert(scene); - assert(object); - ((SND_Scene*)scene)->DeleteObject((SND_SoundObject *)object); -} - - - -void SND_RemoveAllSounds(SND_SceneHandle scene) -{ - assert(scene); - ((SND_Scene*)scene)->RemoveAllObjects(); -} - - - -void SND_StopAllSounds(SND_SceneHandle scene) -{ - assert(scene); - ((SND_Scene*)scene)->StopAllObjects(); -} - - - -void SND_Proceed(SND_AudioDeviceInterfaceHandle audiodevice, SND_SceneHandle scene) -{ - assert(scene); - ((SND_Scene*)scene)->Proceed(); - ((SND_IAudioDevice*)audiodevice)->NextFrame(); -} - - - -SND_ListenerHandle SND_GetListener(SND_SceneHandle scene) -{ - assert(scene); - return (SND_ListenerHandle)((SND_Scene*)scene)->GetListener(); -} - - - -void SND_SetListenerGain(SND_SceneHandle scene, double gain) -{ - assert(scene); - SND_SoundListener* listener = ((SND_Scene*)scene)->GetListener(); - listener->SetGain((MT_Scalar)gain); -} - - - -void SND_SetDopplerFactor(SND_SceneHandle scene, double dopplerfactor) -{ - assert(scene); - SND_SoundListener* listener = ((SND_Scene*)scene)->GetListener(); - listener->SetDopplerFactor(dopplerfactor); -} - - - -void SND_SetDopplerVelocity(SND_SceneHandle scene, double dopplervelocity) -{ - assert(scene); - SND_SoundListener* listener = ((SND_Scene*)scene)->GetListener(); - listener->SetDopplerVelocity(dopplervelocity); -} - - - -// Object instantiation -SND_ObjectHandle SND_CreateSound() -{ - return (SND_ObjectHandle)new SND_SoundObject(); -} - - - -void SND_DeleteSound(SND_ObjectHandle object) -{ - assert(object); - delete (SND_SoundObject*)object; -} - - - -// Object control -void SND_StartSound(SND_SceneHandle scene, SND_ObjectHandle object) -{ - assert(scene); - assert(object); - ((SND_Scene*)scene)->AddActiveObject((SND_SoundObject*)object, 0); -} - - - -void SND_StopSound(SND_SceneHandle scene, SND_ObjectHandle object) -{ - assert(scene); - assert(object); - ((SND_Scene*)scene)->RemoveActiveObject((SND_SoundObject*)object); -} - - - -void SND_PauseSound(SND_SceneHandle scene, SND_ObjectHandle object) -{ - assert(scene); - assert(object); - ((SND_Scene*)scene)->RemoveActiveObject((SND_SoundObject*)object); -} - - - -void SND_SetSampleName(SND_ObjectHandle object, char* samplename) -{ - assert(object); - STR_String name = samplename; - ((SND_SoundObject*)object)->SetSampleName(name); -} - - - -void SND_SetGain(SND_ObjectHandle object, double gain) -{ - assert(object); - ((SND_SoundObject*)object)->SetGain(gain); -} - - - -void SND_SetMinimumGain(SND_ObjectHandle object, double minimumgain) -{ - assert(object); - ((SND_SoundObject*)object)->SetMinGain(minimumgain); -} - - - -void SND_SetMaximumGain(SND_ObjectHandle object, double maximumgain) -{ - assert(object); - ((SND_SoundObject*)object)->SetMaxGain(maximumgain); -} - - - -void SND_SetRollOffFactor(SND_ObjectHandle object, double rollofffactor) -{ - assert(object); - ((SND_SoundObject*)object)->SetRollOffFactor(rollofffactor); -} - - - -void SND_SetReferenceDistance(SND_ObjectHandle object, double referencedistance) -{ - assert(object); - ((SND_SoundObject*)object)->SetReferenceDistance(referencedistance); -} - - - -void SND_SetPitch(SND_ObjectHandle object, double pitch) -{ - assert(object); - ((SND_SoundObject*)object)->SetPitch(pitch); -} - - - -void SND_SetPosition(SND_ObjectHandle object, double* position) -{ - assert(object); - ((SND_SoundObject*)object)->SetPosition(position); -} - - - -void SND_SetVelocity(SND_ObjectHandle object, double* velocity) -{ - assert(object); - ((SND_SoundObject*)object)->SetVelocity(velocity); -} - - - -void SND_SetOrientation(SND_ObjectHandle object, double* orientation) -{ - assert(object); - ((SND_SoundObject*)object)->SetOrientation(orientation); -} - - - -void SND_SetLoopMode(SND_ObjectHandle object, int loopmode) -{ - assert(object); - ((SND_SoundObject*)object)->SetLoopMode(loopmode); -} - - - -void SND_SetLoopPoints(SND_ObjectHandle object, unsigned int loopstart, unsigned int loopend) -{ - assert(object); - ((SND_SoundObject*)object)->SetLoopStart(loopstart); - ((SND_SoundObject*)object)->SetLoopEnd(loopend); -} - - - -float SND_GetGain(SND_ObjectHandle object) -{ - assert(object); - MT_Scalar gain = ((SND_SoundObject*)object)->GetGain(); - return (float) gain; -} - - - -float SND_GetPitch(SND_ObjectHandle object) -{ - assert(object); - MT_Scalar pitch = ((SND_SoundObject*)object)->GetPitch(); - return (float) pitch; -} - - - -int SND_GetLoopMode(SND_ObjectHandle object) -{ - assert(object); - return ((SND_SoundObject*)object)->GetLoopMode(); -} - - - -int SND_GetPlaystate(SND_ObjectHandle object) -{ - assert(object); - return ((SND_SoundObject*)object)->GetPlaystate(); -} diff --git a/intern/SoundSystem/intern/SND_CDObject.cpp b/intern/SoundSystem/intern/SND_CDObject.cpp deleted file mode 100644 index 089e0d554e4..00000000000 --- a/intern/SoundSystem/intern/SND_CDObject.cpp +++ /dev/null @@ -1,182 +0,0 @@ -/* - * SND_CDObject.cpp - * - * Implementation for CD playback - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#include "SND_CDObject.h" - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -SND_CDObject* SND_CDObject::m_instance = NULL; - -bool SND_CDObject::CreateSystem() -{ - bool result = false; - - if (!m_instance) - { - m_instance = new SND_CDObject(); - result = true; - } - - return result; -} - - - -bool SND_CDObject::DisposeSystem() -{ - bool result = false; - - if (m_instance) - { - delete m_instance; - m_instance = NULL; - result = true; - } - - return result; -} - - - -SND_CDObject* SND_CDObject::Instance() -{ - return m_instance; -} - - - -SND_CDObject::SND_CDObject() -{ - m_gain = 1; - m_playmode = SND_CD_ALL; - m_track = 1; - m_playstate = SND_STOPPED; - m_used = false; - - // don't set the cd standard on modified: - // if not used, we don't wanna touch it (performance) - m_modified = false; -} - - - -SND_CDObject::~SND_CDObject() -{ -} - - - -void SND_CDObject::SetGain(MT_Scalar gain) -{ - m_gain = gain; - m_modified = true; -} - - - -void SND_CDObject::SetPlaymode(int playmode) -{ - m_playmode = playmode; -} - - - -void SND_CDObject::SetPlaystate(int playstate) -{ - m_playstate = playstate; -} - - - -void SND_CDObject::SetTrack(int track) -{ - m_track = track; -} - - - -int SND_CDObject::GetTrack() const -{ - return m_track; -} - - - -MT_Scalar SND_CDObject::GetGain() const -{ - return m_gain; -} - - -int SND_CDObject::GetPlaystate() const -{ - return m_playstate; -} - - - -bool SND_CDObject::IsModified() const -{ - return m_modified; -} - - - -void SND_CDObject::SetModified(bool modified) -{ - m_modified = modified; -} - - - -int SND_CDObject::GetPlaymode() const -{ - return m_playmode; -} - - - -void SND_CDObject::SetUsed() -{ - m_used = true; -} - - - -bool SND_CDObject::GetUsed() -{ - return m_used; -} - diff --git a/intern/SoundSystem/intern/SND_DeviceManager.cpp b/intern/SoundSystem/intern/SND_DeviceManager.cpp deleted file mode 100644 index c4bc887dffe..00000000000 --- a/intern/SoundSystem/intern/SND_DeviceManager.cpp +++ /dev/null @@ -1,126 +0,0 @@ -/* - * SND_DeviceManager.h - * - * singleton for creating, switching and deleting audiodevices - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -#include "SND_DeviceManager.h" -#include "SND_DependKludge.h" -#include "SND_DummyDevice.h" -#ifdef USE_OPENAL -#include "SND_OpenALDevice.h" -#endif - -SND_IAudioDevice* SND_DeviceManager::m_instance = NULL; -int SND_DeviceManager::m_subscriptions = 0; - -#ifdef USE_OPENAL -int SND_DeviceManager::m_device_type = snd_e_openaldevice; -#else -int SND_DeviceManager::m_device_type = snd_e_dummydevice; -#endif - -void SND_DeviceManager::Subscribe() -{ - ++m_subscriptions; -} - - - -void SND_DeviceManager::Unsubscribe() -{ - --m_subscriptions; - - // only release memory if there is a m_instance but no subscriptions left - if (m_subscriptions == 0 && m_instance) - { - delete m_instance; - m_instance = NULL; - } - - if (m_subscriptions < 0) - m_subscriptions = 0; -} - - - -SND_IAudioDevice* SND_DeviceManager::Instance() -{ - // only give away an instance if there are subscriptions - if (m_subscriptions) - { - // if there's no instance yet, set and create a new one - if (m_instance == NULL) - { - SetDeviceType(m_device_type); - } - - return m_instance; - } - else - { - return NULL; - } -} - - - -void SND_DeviceManager::SetDeviceType(int device_type) -{ - // if we want to change devicetype, first delete the old one - if (m_instance) - { - delete m_instance; - m_instance = NULL; - } - - // let's create the chosen device - switch (device_type) - { -#ifdef USE_OPENAL - case snd_e_openaldevice: - { - m_instance = new SND_OpenALDevice(); - m_device_type = device_type; - break; - } -#endif - default: - { - m_instance = new SND_DummyDevice(); - m_device_type = device_type; - break; - } - } -} diff --git a/intern/SoundSystem/intern/SND_IdObject.cpp b/intern/SoundSystem/intern/SND_IdObject.cpp deleted file mode 100644 index b261442db0a..00000000000 --- a/intern/SoundSystem/intern/SND_IdObject.cpp +++ /dev/null @@ -1,76 +0,0 @@ -/* - * SND_IdObject.cpp - * - * Object for storing runtime data, like id's, soundobjects etc - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#include "SND_IdObject.h" - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -SND_IdObject::SND_IdObject() -{ -} - - - -SND_IdObject::~SND_IdObject() -{ -} - - - -SND_SoundObject* SND_IdObject::GetSoundObject() -{ - return m_soundObject; -} - - - -void SND_IdObject::SetSoundObject(SND_SoundObject* pObject) -{ - m_soundObject = pObject; -} - - - -int SND_IdObject::GetId() -{ - return m_id; -} - - - -void SND_IdObject::SetId(int id) -{ - m_id = id; -} diff --git a/intern/SoundSystem/intern/SND_IdObject.h b/intern/SoundSystem/intern/SND_IdObject.h deleted file mode 100644 index 86611b026f0..00000000000 --- a/intern/SoundSystem/intern/SND_IdObject.h +++ /dev/null @@ -1,58 +0,0 @@ -/* - * SND_IdObject.h - * - * Object for storing runtime data, like id's, soundobjects etc - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifndef __SND_IDOBJECT_H -#define __SND_IDOBJECT_H - -#include "SND_SoundObject.h" -#include "GEN_List.h" -#include "SoundDefines.h" - -class SND_IdObject : public GEN_Link -{ - SND_SoundObject* m_soundObject; - int m_id; - -public: - SND_IdObject(); - virtual ~SND_IdObject(); - - SND_SoundObject* GetSoundObject(); - void SetSoundObject(SND_SoundObject* pObject); - - int GetId(); - void SetId(int id); -}; - -#endif //__SND_OBJECT_H - diff --git a/intern/SoundSystem/intern/SND_Scene.cpp b/intern/SoundSystem/intern/SND_Scene.cpp deleted file mode 100644 index af1b43a08aa..00000000000 --- a/intern/SoundSystem/intern/SND_Scene.cpp +++ /dev/null @@ -1,544 +0,0 @@ -/* -* SND_Scene.cpp -* -* The scene for sounds. -* -* $Id$ -* - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** -*/ - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -#ifdef WIN32 -#pragma warning (disable:4786) // Get rid of stupid stl-visual compiler debug warning -#endif //WIN32 - -#include "SND_Scene.h" -#include "SND_DependKludge.h" -#include "SND_IAudioDevice.h" - -#include <stdlib.h> -#include <iostream> - -//static unsigned int tijd = 0; - -SND_Scene::SND_Scene(SND_IAudioDevice* audiodevice) - : m_audiodevice(audiodevice) -{ - if (m_audiodevice) - m_wavecache = m_audiodevice->GetWaveCache(); - - if (!m_wavecache || !audiodevice) - { - m_audio = false; - } - else - { - //if so, go ahead! - m_audio = true; -#ifdef ONTKEVER - printf("SND_Scene::SND_Scene() m_audio == true\n"); -#endif - m_audiodevice->InitListener(); - } - - IsPlaybackWanted(); -} - - - -SND_Scene::~SND_Scene() -{ - StopAllObjects(); -} - - - -// check if audioplayback is wanted -bool SND_Scene::IsPlaybackWanted() -{ - /* Removed the functionality for checking if noaudio was provided on */ - /* the commandline. */ - if (m_audiodevice && m_wavecache) - { - m_audioplayback = true; - } - else - { - StopAllObjects(); - m_audioplayback = false; - } - - return m_audioplayback; -} - - - -int SND_Scene::LoadSample(const STR_String& samplename, - void* memlocation, - int size) -{ - int result = -1; - - if (m_audiodevice) - { - SND_WaveSlot* waveslot = m_audiodevice->LoadSample(samplename, memlocation, size); - - if (waveslot) - result = waveslot->GetBuffer(); - } - - return result; -} - - - -void SND_Scene::RemoveAllSamples() -{ - if (m_audio && m_audiodevice) - m_audiodevice->RemoveAllSamples(); -} - - - -bool SND_Scene::CheckBuffer(SND_SoundObject* pObject) -{ - bool result = false; - - if (pObject && m_wavecache) - { - SND_WaveSlot* waveslot = m_wavecache->GetWaveSlot(pObject->GetSampleName()); - - if (waveslot) - { - pObject->SetBuffer(waveslot->GetBuffer()); - - result = true; - } - } - - return result; -} - - - -bool SND_Scene::IsSampleLoaded(STR_String& samplename) -{ - bool result = false; - - if (samplename && m_wavecache) - { - SND_WaveSlot* waveslot = m_wavecache->GetWaveSlot(samplename); - - if (waveslot && waveslot->IsLoaded()) - result = true; - } - - return result; -} - - - -void SND_Scene::AddObject(SND_SoundObject* pObject) -{ - if (m_audio) - { - STR_String samplename = pObject->GetSampleName(); - SND_WaveSlot* slot = NULL; - - // don't add the object if no valid sample is referenced - if (samplename != "") - { - // check if the sample is already loaded - slot = m_wavecache->GetWaveSlot(samplename); - } - - if (slot) - { - pObject->SetBuffer(slot->GetBuffer()); - - // needed for expected lifespan of the sample, but ain't necesary anymore i think - MT_Scalar samplelength = slot->GetNumberOfSamples(); - MT_Scalar samplerate = slot->GetSampleRate(); - MT_Scalar soundlength = samplelength/samplerate; - pObject->SetLength(soundlength); - - // add the object to the list - m_soundobjects.insert((SND_SoundObject*)pObject); - } - } -} - - - -void SND_Scene::SetListenerTransform(const MT_Vector3& pos, - const MT_Vector3& vel, - const MT_Matrix3x3& ori) -{ - if (m_audio) - { - GetListener()->SetPosition(pos); - GetListener()->SetVelocity(vel); - GetListener()->SetOrientation(ori); - } -} - - - -void SND_Scene::UpdateListener() -{ - // process the listener if modified - if (m_listener.IsModified()) - { - m_audiodevice->SetListenerGain(m_listener.GetGain()); - m_audiodevice->SetDopplerVelocity(m_listener.GetDopplerVelocity()); - m_audiodevice->SetDopplerFactor(m_listener.GetDopplerFactor()); - m_listener.SetModified(false); - } -} - - - -void SND_Scene::AddActiveObject(SND_SoundObject* pObject, MT_Scalar curtime) -{ - if (m_audio) - { - if (pObject) - { -#ifdef ONTKEVER - printf("SND_Scene::AddActiveObject\n"); -#endif - - // first check if the object is already on the list - if (pObject->IsActive()) - { - pObject->SetTimeStamp(curtime); - pObject->StartSound(); - } - else - { - pObject->SetTimeStamp(curtime); - - // compute the expected lifespan - pObject->SetLifeSpan(); - - // lets give the new active-to-be object an id - if (m_audiodevice->GetNewId(pObject)) - { - // and add the object - m_activeobjects.addTail(pObject); - pObject->StartSound(); - pObject->SetActive(true); - } - } - } - } -} - - - -void SND_Scene::RemoveActiveObject(SND_SoundObject* pObject) -{ - if (m_audio) - { - if (pObject) - { -#ifdef ONTKEVER - printf("SND_Scene::RemoveActiveObject\n"); -#endif - // if inactive, remove it from the list - if (pObject->IsActive()) - { - // first make sure it is stopped - m_audiodevice->ClearId(pObject); - } - } - } -} - - - -void SND_Scene::UpdateActiveObects() -{ -// ++tijd; - - SND_SoundObject* pObject; - // update only the objects that need to be updated - for (pObject = (SND_SoundObject*)m_activeobjects.getHead(); - !pObject->isTail(); - pObject = (SND_SoundObject*)pObject->getNext()) - { - int id = pObject->GetId(); - - if (id >= 0) - { - if (pObject->Is3D()) - { - // Get the global positions and velocity vectors - // of the listener and soundobject - MT_Vector3 op = pObject->GetPosition(); - MT_Vector3 lp = m_listener.GetPosition(); - MT_Vector3 position = op - lp; - - // Calculate relative velocity in global coordinates - // of the sound with respect to the listener. - MT_Vector3 ov = pObject->GetVelocity(); - MT_Vector3 lv = m_listener.GetVelocity(); - MT_Vector3 velocity = ov - lv; - - // Now map the object position and velocity into - // the local coordinates of the listener. - MT_Matrix3x3 lo = m_listener.GetOrientation(); - - MT_Vector3 local_sound_pos = position * lo; - MT_Vector3 local_sound_vel = velocity * lo; - - m_audiodevice->SetObjectTransform( - id, - local_sound_pos, - local_sound_vel, - pObject->GetOrientation(), // make relative to listener! - lp, - pObject->GetRollOffFactor()); - } - else - { - m_audiodevice->ObjectIs2D(id); - } - - // update the situation - if (pObject->IsModified()) - { - m_audiodevice->SetObjectPitch(id, pObject->GetPitch()); - m_audiodevice->SetObjectGain(id, pObject->GetGain()); - m_audiodevice->SetObjectMinGain(id, pObject->GetMinGain()); - m_audiodevice->SetObjectMaxGain(id, pObject->GetMaxGain()); - m_audiodevice->SetObjectReferenceDistance(id, pObject->GetReferenceDistance()); - m_audiodevice->SetObjectRollOffFactor(id, pObject->GetRollOffFactor()); - m_audiodevice->SetObjectLoop(id, pObject->GetLoopMode()); - m_audiodevice->SetObjectLoopPoints(id, pObject->GetLoopStart(), pObject->GetLoopEnd()); - pObject->SetModified(false); - } - - pObject->AddRunning(); - -#ifdef ONTKEVER - STR_String naam = pObject->GetObjectName(); - STR_String sample = pObject->GetSampleName(); - - int id = pObject->GetId(); - int buffer = pObject->GetBuffer(); - - float gain = pObject->GetGain(); - float pitch = pObject->GetPitch(); - float timestamp = pObject->GetTimestamp(); - - printf("naam: %s, sample: %s \n", naam.Ptr(), sample.Ptr()); - printf("id: %d, buffer: %d \n", id, buffer); - printf("gain: %f, pitch: %f, ts: %f \n\n", gain, pitch, timestamp); -#endif -#ifdef USE_OPENAL - // ok, properties Set. now see if it must play - switch (pObject->GetPlaystate()){ - case SND_MUST_PLAY: - m_audiodevice->PlayObject(id); - pObject->SetPlaystate(SND_PLAYING); - break; - case SND_MUST_STOP: - RemoveActiveObject(pObject); - break; - case SND_MUST_PAUSE: - m_audiodevice->PauseObject(id); - pObject->SetPlaystate(SND_PAUSED); - break; - } -#endif - - // check to see if the sound is still playing - // if not: release its id - int playstate = m_audiodevice->GetPlayState(id); -#ifdef ONTKEVER - if (playstate != 2) - printf("%d - ",playstate); -#endif - - if ((playstate == SND_STOPPED) && !pObject->GetLoopMode()) - { - RemoveActiveObject(pObject); - } - } - } -} - - - -void SND_Scene::UpdateCD() -{ - if (m_audiodevice) - { - SND_CDObject* pCD = SND_CDObject::Instance(); - - if (pCD) - { - int playstate = pCD->GetPlaystate(); - - switch (playstate) - { - case SND_MUST_PLAY: - { - // initialize the cd only when you need it - m_audiodevice->SetCDGain(pCD->GetGain()); - m_audiodevice->SetCDPlaymode(pCD->GetPlaymode()); - m_audiodevice->PlayCD(pCD->GetTrack()); - pCD->SetPlaystate(SND_PLAYING); - pCD->SetUsed(); - break; - } - case SND_MUST_PAUSE: - { - m_audiodevice->PauseCD(true); - pCD->SetPlaystate(SND_PAUSED); - break; - } - case SND_MUST_RESUME: - { - m_audiodevice->PauseCD(false); - pCD->SetPlaystate(SND_PLAYING); - break; - } - case SND_MUST_STOP: - { - m_audiodevice->StopCD(); - pCD->SetPlaystate(SND_STOPPED); - break; - } - default: - { - } - } - - // this one is only for realtime modifying settings - if (pCD->IsModified()) - { - m_audiodevice->SetCDGain(pCD->GetGain()); - pCD->SetModified(false); - } - } - } -} - - - -void SND_Scene::Proceed() -{ - if (m_audio && m_audioplayback) - { - m_audiodevice->MakeCurrent(); - - UpdateListener(); - UpdateActiveObects(); - UpdateCD(); - -// m_audiodevice->UpdateDevice(); - } -} - - -void SND_Scene::DeleteObject(SND_SoundObject* pObject) -{ -#ifdef ONTKEVER - printf("SND_Scene::DeleteObject\n"); -#endif - - if (pObject) - { - if (m_audiodevice) - m_audiodevice->ClearId(pObject); - - // must remove object from m_activeList - std::set<SND_SoundObject*>::iterator set_it; - set_it = m_soundobjects.find(pObject); - - if (set_it != m_soundobjects.end()) - m_soundobjects.erase(set_it); - - // release the memory - delete pObject; - pObject = NULL; - } -} - - - -void SND_Scene::RemoveAllObjects() -{ -#ifdef ONTKEVER - printf("SND_Scene::RemoveAllObjects\n"); -#endif - - StopAllObjects(); - - std::set<SND_SoundObject*>::iterator it = m_soundobjects.begin(); - - while (it != m_soundobjects.end()) - { - delete (*it); - it++; - } - - m_soundobjects.clear(); -} - - - -void SND_Scene::StopAllObjects() -{ - if (m_audio) - { -#ifdef ONTKEVER - printf("SND_Scene::StopAllObjects\n"); -#endif - - SND_SoundObject* pObject; - - for (pObject = (SND_SoundObject*)m_activeobjects.getHead(); - !pObject->isTail(); - pObject = (SND_SoundObject*)pObject->getNext()) - { - m_audiodevice->ClearId(pObject); - } - } -} - - - -SND_SoundListener* SND_Scene::GetListener() -{ - return &m_listener; -} diff --git a/intern/SoundSystem/intern/SND_SoundListener.cpp b/intern/SoundSystem/intern/SND_SoundListener.cpp deleted file mode 100644 index 26163e87765..00000000000 --- a/intern/SoundSystem/intern/SND_SoundListener.cpp +++ /dev/null @@ -1,185 +0,0 @@ -/* - * SND_SoundListener.cpp - * - * A SoundListener is for sound what a camera is for vision. - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#include "SND_SoundListener.h" - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -SND_SoundListener::SND_SoundListener() -{ - m_modified = true; - m_gain = 1.0; - m_dopplerfactor = 1.0; - m_dopplervelocity = 1.0; - m_scale = 1.0; - m_position[0] = 0.0; - m_position[1] = 0.0; - m_position[2] = 0.0; - m_velocity[0] = 0.0; - m_velocity[1] = 0.0; - m_velocity[2] = 0.0; - m_orientation[0][0] = 1.0; - m_orientation[0][1] = 0.0; - m_orientation[0][2] = 0.0; - m_orientation[1][0] = 0.0; - m_orientation[1][1] = 1.0; - m_orientation[1][2] = 0.0; - m_orientation[2][0] = 0.0; - m_orientation[2][1] = 0.0; - m_orientation[2][2] = 1.0; -} - - -SND_SoundListener::~SND_SoundListener() -{ - ; /* intentionally empty */ - -} - - - -void SND_SoundListener::SetGain(MT_Scalar gain) -{ - m_gain = gain; - m_modified = true; -} - - - -void SND_SoundListener::SetPosition (const MT_Vector3& pos) -{ - m_position = pos; -} - - - -void SND_SoundListener::SetVelocity(const MT_Vector3& vel) -{ - m_velocity = vel; -} - - - -void SND_SoundListener::SetOrientation(const MT_Matrix3x3& ori) -{ - m_orientation = ori; -} - - - -void SND_SoundListener::SetDopplerFactor(MT_Scalar dopplerfactor) -{ - m_dopplerfactor = dopplerfactor; - m_modified = true; -} - - - -void SND_SoundListener::SetDopplerVelocity(MT_Scalar dopplervelocity) -{ - m_dopplervelocity = dopplervelocity; - m_modified = true; -} - - - -void SND_SoundListener::SetScale(MT_Scalar scale) -{ - m_scale = scale; - m_modified = true; -} - - - -MT_Scalar SND_SoundListener::GetGain() const -{ - return m_gain; -} - - - -MT_Vector3 SND_SoundListener::GetPosition() const -{ - return m_position; -} - - - -MT_Vector3 SND_SoundListener::GetVelocity() const -{ - return m_velocity; -} - - - -MT_Matrix3x3 SND_SoundListener::GetOrientation() -{ - return m_orientation; -} - - - -MT_Scalar SND_SoundListener::GetDopplerFactor() const -{ - return m_dopplerfactor; -} - - - -MT_Scalar SND_SoundListener::GetDopplerVelocity() const -{ - return m_dopplervelocity; -} - - - -MT_Scalar SND_SoundListener::GetScale() const -{ - return m_scale; -} - - - -bool SND_SoundListener::IsModified() const -{ - return m_modified; -} - - - -void SND_SoundListener::SetModified(bool modified) -{ - m_modified = modified; -} diff --git a/intern/SoundSystem/intern/SND_SoundObject.cpp b/intern/SoundSystem/intern/SND_SoundObject.cpp deleted file mode 100644 index 7a244b5090d..00000000000 --- a/intern/SoundSystem/intern/SND_SoundObject.cpp +++ /dev/null @@ -1,508 +0,0 @@ -/* - * SND_SoundObject.cpp - * - * Implementation of the abstract sound object - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#include "SND_SoundObject.h" - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -SND_SoundObject::SND_SoundObject()// : m_modified(true) -{ - m_samplename = ""; - m_length = 0; - m_buffer = 0; - - m_gain = 0.0; - m_pitch = 1.0; - - m_mingain = 0.0; - m_maxgain = 1.0; - m_rollofffactor = 1.0; - m_referencedistance = 1.0; - - m_position[0] = 0.0; - m_position[1] = 0.0; - m_position[2] = 0.0; - m_velocity[0] = 0.0; - m_velocity[1] = 0.0; - m_velocity[2] = 0.0; - m_orientation[0][0] = 1.0; - m_orientation[0][1] = 0.0; - m_orientation[0][2] = 0.0; - m_orientation[1][0] = 0.0; - m_orientation[1][1] = 1.0; - m_orientation[1][2] = 0.0; - m_orientation[2][0] = 0.0; - m_orientation[2][1] = 0.0; - m_orientation[2][2] = 1.0; - - m_loopstart = 0; - m_loopend = 0; - m_loopmode = SND_LOOP_NORMAL; - m_is3d = true; - m_playstate = SND_INITIAL; - m_active = false; - m_id = -1; - m_lifespan = 0; - m_timestamp = 0; - m_modified = true; - m_running = 0; - m_highpriority = false; -} - - - -SND_SoundObject::~SND_SoundObject() -{ -} - - - -void SND_SoundObject::StartSound() -{ - if (m_id >= 0) - m_playstate = SND_MUST_PLAY; -} - - - -void SND_SoundObject::StopSound() -{ - if (m_id >= 0) - m_playstate = SND_MUST_STOP; -} - - - -void SND_SoundObject::PauseSound() -{ - if (m_id >= 0) - m_playstate = SND_MUST_PAUSE; -} - - - -void SND_SoundObject::DeleteWhenFinished() -{ - m_playstate = SND_MUST_BE_DELETED; -} - - - -void SND_SoundObject::SetGain(MT_Scalar gain) -{ - m_gain = gain; - m_modified = true; -} - - - -void SND_SoundObject::SetMinGain(MT_Scalar mingain) -{ - m_mingain = mingain; - m_modified = true; -} - - - -void SND_SoundObject::SetMaxGain(MT_Scalar maxgain) -{ - m_maxgain = maxgain; - m_modified = true; -} - - - -void SND_SoundObject::SetRollOffFactor(MT_Scalar rollofffactor) -{ - m_rollofffactor = rollofffactor; - m_modified = true; -} - - - -void SND_SoundObject::SetReferenceDistance(MT_Scalar referencedistance) -{ - m_referencedistance = referencedistance; - m_modified = true; -} - - - -void SND_SoundObject::SetPitch(MT_Scalar pitch) -{ - m_pitch = pitch; - m_modified = true; -} - - - -void SND_SoundObject::SetLoopMode(unsigned int loopmode) -{ - m_loopmode = loopmode; - m_modified = true; -} - - - -void SND_SoundObject::SetLoopStart(unsigned int loopstart) -{ - m_loopstart = loopstart; - m_modified = true; -} - - - -void SND_SoundObject::SetLoopEnd(unsigned int loopend) -{ - m_loopend = loopend; - m_modified = true; -} - - - -void SND_SoundObject::Set3D(bool threedee) -{ - m_is3d = threedee; -} - - - -void SND_SoundObject::SetLifeSpan() -{ - m_lifespan = m_length / m_pitch; -} - - - -bool SND_SoundObject::IsLifeSpanOver(MT_Scalar curtime) const -{ - bool result = false; - - if ((curtime - m_timestamp) > m_lifespan) - result = true; - - return result; -} - - - -void SND_SoundObject::SetActive(bool active) -{ - m_active = active; - - if (!active) - { - m_playstate = SND_STOPPED; - (this)->remove(); - } -} - - - -void SND_SoundObject::SetBuffer(unsigned int buffer) -{ - m_buffer = buffer; -} - - - -void SND_SoundObject::SetObjectName(STR_String objectname) -{ - m_objectname = objectname; -} - - - -void SND_SoundObject::SetSampleName(STR_String samplename) -{ - m_samplename = samplename; -} - - - -void SND_SoundObject::SetLength(MT_Scalar length) -{ - m_length = length; -} - - - -void SND_SoundObject::SetPosition(const MT_Vector3& pos) -{ - m_position = pos; -} - - - -void SND_SoundObject::SetVelocity(const MT_Vector3& vel) -{ - m_velocity = vel; -} - - - -void SND_SoundObject::SetOrientation(const MT_Matrix3x3& orient) -{ - m_orientation = orient; -} - - - -void SND_SoundObject::SetPlaystate(int playstate) -{ - m_playstate = playstate; -} - - - -void SND_SoundObject::SetId(int id) -{ - m_id = id; -} - - - -void SND_SoundObject::SetTimeStamp(MT_Scalar timestamp) -{ - m_timestamp = timestamp; -} - - - -void SND_SoundObject::SetHighPriority(bool priority) -{ - m_highpriority = priority; -} - - - -bool SND_SoundObject::IsHighPriority() const -{ - return m_highpriority; -} - - - -bool SND_SoundObject::IsActive()const -{ - return m_active; -} - - - -int SND_SoundObject::GetId()const -{ - return m_id; -} - - - -MT_Scalar SND_SoundObject::GetLifeSpan()const -{ - return m_lifespan; -} - - - -MT_Scalar SND_SoundObject::GetTimestamp()const -{ - return m_timestamp; -} - - - -unsigned int SND_SoundObject::GetBuffer() -{ - return m_buffer; -} - - - -const STR_String& SND_SoundObject::GetSampleName() -{ - return m_samplename; -} - - - -const STR_String& SND_SoundObject::GetObjectName() -{ - return m_objectname; -} - - - -MT_Scalar SND_SoundObject::GetLength() const -{ - return m_length; -} - - - -MT_Scalar SND_SoundObject::GetGain() const -{ - return m_gain; -} - - - -MT_Scalar SND_SoundObject::GetPitch() const -{ - return m_pitch; -} - - - -MT_Scalar SND_SoundObject::GetMinGain() const -{ - return m_mingain; -} - - - -MT_Scalar SND_SoundObject::GetMaxGain() const -{ - return m_maxgain; -} - - - -MT_Scalar SND_SoundObject::GetRollOffFactor() const -{ - return m_rollofffactor; -} - - - -MT_Scalar SND_SoundObject::GetReferenceDistance() const -{ - return m_referencedistance; -} - - - -MT_Vector3 SND_SoundObject::GetPosition() const -{ - return m_position; -} - - - -MT_Vector3 SND_SoundObject::GetVelocity() const -{ - return m_velocity; -} - - - -MT_Matrix3x3 SND_SoundObject::GetOrientation() const -{ - return m_orientation; -} - - - -unsigned int SND_SoundObject::GetLoopMode() const -{ - return m_loopmode; -} - - - -unsigned int SND_SoundObject::GetLoopStart() const -{ - return m_loopstart; -} - - - -unsigned int SND_SoundObject::GetLoopEnd() const -{ - return m_loopend; -} - - - -bool SND_SoundObject::Is3D() const -{ - return m_is3d; -} - - - -int SND_SoundObject::GetPlaystate() const -{ - return m_playstate; -} - - - -bool SND_SoundObject::IsModified() const -{ - return m_modified; -} - - - -void SND_SoundObject::SetModified(bool modified) -{ - m_modified = modified; -} - - - -void SND_SoundObject::InitRunning() -{ - m_running = 0; -} - - - -bool SND_SoundObject::IsRunning() const -{ - bool result = false; - - if (m_running > 100) - result = true; - - return result; -} - - - -void SND_SoundObject::AddRunning() -{ - ++m_running; -} diff --git a/intern/SoundSystem/intern/SND_Utils.cpp b/intern/SoundSystem/intern/SND_Utils.cpp deleted file mode 100644 index dbc3135b35c..00000000000 --- a/intern/SoundSystem/intern/SND_Utils.cpp +++ /dev/null @@ -1,424 +0,0 @@ -/* - * SND_Utils.cpp - * - * Util functions for soundthingies - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#include "SND_Utils.h" -#include "SoundDefines.h" -#include "SND_DependKludge.h" -#include <stdio.h> -#include <stdlib.h> -#include <fcntl.h> -#include <math.h> -#include <string.h> - -#if defined(_WIN32) -#include <io.h> -#define open _open -#define read _read -#define close _close -#define write _write -#define lseek _lseek -#else -#include <unistd.h> -#endif - -#define BUFFERSIZE 32 - - -/***************************************************************************** - * Begin of temporary Endian stuff. - * I think there should be a central place to handle endian conversion but for - * the time being it suffices. Note that the defines come from the Blender - * source. - *****************************************************************************/ -typedef enum -{ - SND_endianBig = 0, - SND_endianLittle -} SND_TEndian; - -#if defined(__BIG_ENDIAN__) || defined(__sparc) || defined(__sparc__) -const SND_TEndian SND_fEndian = SND_endianBig; -#else -const SND_TEndian SND_fEndian = SND_endianLittle; -#endif - -/* This one swaps the bytes in a short */ -#define SWITCH_SHORT(a) { \ - char s_i, *p_i; \ - p_i= (char *)&(a); \ - s_i=p_i[0]; \ - p_i[0] = p_i[1]; \ - p_i[1] = s_i; } - -/* This one rotates the bytes in an int */ -#define SWITCH_INT(a) { \ - char s_i, *p_i; \ - p_i= (char *)&(a); \ - s_i=p_i[0]; p_i[0]=p_i[3]; p_i[3]=s_i; \ - s_i=p_i[1]; p_i[1]=p_i[2]; p_i[2]=s_i; } -/***************************************************************************** - * End of temporary Endian stuff. - *****************************************************************************/ - - -/* loads a file */ -void* SND_LoadSample(char *filename) -{ - int file, filelen, buffersize = BUFFERSIZE; - void* data = NULL; - -#if defined(WIN32) - file = open(filename, O_BINARY|O_RDONLY); -#else - file = open(filename, 0|O_RDONLY); -#endif - - if (file == -1) - { - //printf("can't open file.\n"); - //printf("press q for quit.\n"); - } - else - { - filelen = lseek(file, 0, SEEK_END); - lseek(file, 0, SEEK_SET); - - if (filelen != 0) - { - data = malloc(buffersize); - - if (read(file, data, buffersize) != buffersize) - { - free(data); - data = NULL; - } - } - close(file); - - } - return (data); -} - - - -bool SND_IsSampleValid(const STR_String& name, void* memlocation) -{ - bool result = false; - bool loadedsample = false; - char buffer[BUFFERSIZE]; - - if (!memlocation) - { - STR_String samplename = name; - memlocation = SND_LoadSample(samplename.Ptr()); - - if (memlocation) - loadedsample = true; - } - - if (memlocation) - { - memcpy(&buffer, memlocation, BUFFERSIZE); - - if(!(memcmp(buffer, "RIFF", 4) && memcmp(&(buffer[8]), "WAVEfmt ", 8))) - { - /* This was endian unsafe. See top of the file for the define. */ - short shortbuf = *((short *) &buffer[20]); - if (SND_fEndian == SND_endianBig) SWITCH_SHORT(shortbuf); - - if (shortbuf == SND_WAVE_FORMAT_PCM) - result = true; - } - } - if (loadedsample) - { - free(memlocation); - memlocation = NULL; - } - - return result; -} - - - -/* checks if the passed pointer is a valid sample */ -static bool CheckSample(void* sample) -{ - bool valid = false; - char buffer[32]; - - memcpy(buffer, sample, 16); - - if(!(memcmp(buffer, "RIFF", 4) && memcmp(&(buffer[8]), "WAVEfmt ", 8))) - { - valid = true; - } - - return valid; -} - - - -/* gets the type of the sample (0 == unknown, 1 == PCM etc */ -unsigned int SND_GetSampleFormat(void* sample) -{ - short sampletype = 0; - - if (CheckSample(sample)) - { - memcpy(&sampletype, ((char*)sample) + 20, 2); - } - /* This was endian unsafe. See top of the file for the define. */ - if (SND_fEndian == SND_endianBig) SWITCH_SHORT(sampletype); - - return (unsigned int)sampletype; -} - - - -/* gets the number of channels in a sample */ -unsigned int SND_GetNumberOfChannels(void* sample) -{ - short numberofchannels = 0; - - if (CheckSample(sample)) - { - memcpy(&numberofchannels, ((char*)sample) + 22, 2); - } - /* This was endian unsafe. See top of the file for the define. */ - if (SND_fEndian == SND_endianBig) SWITCH_SHORT(numberofchannels); - - return (unsigned int)numberofchannels; -} - - - -/* gets the samplerate of a sample */ -unsigned int SND_GetSampleRate(void* sample) -{ - unsigned int samplerate = 0; - - if (CheckSample(sample)) - { - memcpy(&samplerate, ((char*)sample) + 24, 4); - } - /* This was endian unsafe. See top of the file for the define. */ - if (SND_fEndian == SND_endianBig) SWITCH_INT(samplerate); - - return samplerate; -} - - - -/* gets the bitrate of a sample */ -unsigned int SND_GetBitRate(void* sample) -{ - short bitrate = 0; - - if (CheckSample(sample)) - { - memcpy(&bitrate, ((char*)sample) + 34, 2); - } - /* This was endian unsafe. See top of the file for the define. */ - if (SND_fEndian == SND_endianBig) SWITCH_SHORT(bitrate); - - return (unsigned int)bitrate; -} - - - -/* gets the length of the actual sample data (without the header) */ -unsigned int SND_GetNumberOfSamples(void* sample, unsigned int sample_length) -{ - unsigned int chunklength, length = 0, offset; - unsigned short block_align; - if (CheckSample(sample)) - { - memcpy(&chunklength, ((char*)sample) + 16, 4); - memcpy(&block_align, ((char*)sample) + 32, 2); /* always 2 or 4 it seems */ - - /* This was endian unsafe. See top of the file for the define. */ - if (SND_fEndian == SND_endianBig) - { - SWITCH_INT(chunklength); - SWITCH_SHORT(block_align); - } - - offset = 16 + chunklength + 4; - - /* This seems very unsafe, what if data is never found (f.i. corrupt file)... */ - // lets find "data" - while (memcmp(((char*)sample) + offset, "data", 4)) - { - offset += block_align; - - if (offset+block_align > sample_length) /* save us from crashing */ - return 0; - } - offset += 4; - memcpy(&length, ((char*)sample) + offset, 4); - - /* This was endian unsafe. See top of the file for the define. */ - if (SND_fEndian == SND_endianBig) SWITCH_INT(length); - } - - return length; -} - - - -/* gets the size of the entire header (file - sampledata) */ -unsigned int SND_GetHeaderSize(void* sample, unsigned int sample_length) -{ - unsigned int chunklength, headersize = 0, offset = 16; - unsigned short block_align; - if (CheckSample(sample)) - { - memcpy(&chunklength, ((char*)sample) + offset, 4); - memcpy(&block_align, ((char*)sample) + 32, 2); /* always 2 or 4 it seems */ - - /* This was endian unsafe. See top of the file for the define. */ - if (SND_fEndian == SND_endianBig) - { - SWITCH_INT(chunklength); - SWITCH_SHORT(block_align); - } - offset = offset + chunklength + 4; - - // lets find "data" - while (memcmp(((char*)sample) + offset, "data", 4)) - { - offset += block_align; - - if (offset+block_align > sample_length) /* save us from crashing */ - return 0; - } - headersize = offset + 8; - } - - return headersize; -} - - -unsigned int SND_GetExtraChunk(void* sample) -{ - unsigned int extrachunk = 0, chunklength, offset = 16; - char data[4]; - - if (CheckSample(sample)) - { - memcpy(&chunklength, ((char*)sample) + offset, 4); - offset = offset + chunklength + 4; - memcpy(data, ((char*)sample) + offset, 4); - - // lets find "cue" - while (memcmp(data, "cue", 3)) - { - offset += 4; - memcpy(data, ((char*)sample) + offset, 4); - } - } - - return extrachunk; -} - - - -void SND_GetSampleInfo(signed char* sample, SND_WaveSlot* waveslot) -{ - WavFileHeader fileheader; - WavFmtHeader fmtheader; - WavFmtExHeader fmtexheader; - WavSampleHeader sampleheader; - WavChunkHeader chunkheader; - - if (CheckSample(sample)) - { - memcpy(&fileheader, sample, sizeof(WavFileHeader)); - fileheader.size = SND_GetHeaderSize(sample, waveslot->GetFileSize()); - if (fileheader.size) { /* this may fail for corrupt files */ - sample += sizeof(WavFileHeader); - fileheader.size = ((fileheader.size+1) & ~1) - 4; - - while ((fileheader.size > 0) && (memcpy(&chunkheader, sample, sizeof(WavChunkHeader)))) - { - sample += sizeof(WavChunkHeader); - if (!memcmp(chunkheader.id, "fmt ", 4)) - { - memcpy(&fmtheader, sample, sizeof(WavFmtHeader)); - waveslot->SetSampleFormat(fmtheader.format); - - if (fmtheader.format == 0x0001) - { - waveslot->SetNumberOfChannels(fmtheader.numberofchannels); - waveslot->SetBitRate(fmtheader.bitrate); - waveslot->SetSampleRate(fmtheader.samplerate); - sample += chunkheader.size; - } - else - { - memcpy(&fmtexheader, sample, sizeof(WavFmtExHeader)); - sample += chunkheader.size; - } - } - else if (!memcmp(chunkheader.id, "data", 4)) - { - if (fmtheader.format == 0x0001) - { - waveslot->SetNumberOfSamples(chunkheader.size); - sample += chunkheader.size; - } - else if (fmtheader.format == 0x0011) - { - //IMA ADPCM - } - else if (fmtheader.format == 0x0055) - { - //MP3 WAVE - } - } - else if (!memcmp(chunkheader.id, "smpl", 4)) - { - memcpy(&sampleheader, sample, sizeof(WavSampleHeader)); - //loop = sampleheader.loops; - sample += chunkheader.size; - } - else - sample += chunkheader.size; - - sample += chunkheader.size & 1; - fileheader.size -= (((chunkheader.size + 1) & ~1) + 8); - } - } - } -} diff --git a/intern/SoundSystem/intern/SND_WaveCache.cpp b/intern/SoundSystem/intern/SND_WaveCache.cpp deleted file mode 100644 index a678bd554bb..00000000000 --- a/intern/SoundSystem/intern/SND_WaveCache.cpp +++ /dev/null @@ -1,138 +0,0 @@ -/* - * SND_WaveCache.cpp - * - * abstract wavecache, a way to organize samples - * - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -#ifdef WIN32 -#pragma warning (disable:4786) // Get rid of stupid stl-visual compiler debug warning -#endif //WIN32 - -#include "SND_WaveCache.h" -#include <stdio.h> - -#ifdef __APPLE__ -# include <sys/malloc.h> -#else -# ifdef __FreeBSD__ -# include <stdlib.h> -# else -# include <malloc.h> -# endif -#endif - -SND_WaveCache::SND_WaveCache() -{ - // do the buffer administration - for (int i = 0; i < NUM_BUFFERS; i++) - m_bufferList[i] = NULL; -} - - - -SND_WaveCache::~SND_WaveCache() -{ - // clean up the mess - FreeSamples(); - RemoveAllSamples(); -} - - - -SND_WaveSlot* SND_WaveCache::GetWaveSlot(const STR_String& samplename) -{ - SND_WaveSlot* waveslot = NULL; - - std::map<STR_String, SND_WaveSlot*>::iterator find_result = m_samplecache.find(samplename); - - // let's see if we have already loaded this sample - if (find_result != m_samplecache.end()) - { - waveslot = (*find_result).second; - } - else - { - // so the sample wasn't loaded, so do it here - for (int bufnum = 0; bufnum < NUM_BUFFERS; bufnum++) - { - // find an empty buffer - if (m_bufferList[bufnum] == NULL) - { - waveslot = new SND_WaveSlot(); - waveslot->SetSampleName(samplename); - waveslot->SetBuffer(bufnum); - m_bufferList[bufnum] = waveslot; - break; - } - } - m_samplecache.insert(std::pair<STR_String, SND_WaveSlot*>(samplename, waveslot)); - } - - return waveslot; -} - - - -void SND_WaveCache::RemoveAllSamples() -{ - // remove all samples - m_samplecache.clear(); - - // reset the list of buffers - for (int i = 0; i < NUM_BUFFERS; i++) - m_bufferList[i] = NULL; -} - - - -void SND_WaveCache::RemoveSample(const STR_String& samplename, int buffer) -{ - m_samplecache.erase(samplename); - m_bufferList[buffer] = NULL; -} - - - -void SND_WaveCache::FreeSamples() -{ - // iterate through the bufferlist and delete the waveslot if present - for (int i = 0; i < NUM_BUFFERS; i++) - { - if (m_bufferList[i]) - { - delete m_bufferList[i]; - m_bufferList[i] = NULL; - } - } -} diff --git a/intern/SoundSystem/intern/SND_WaveSlot.cpp b/intern/SoundSystem/intern/SND_WaveSlot.cpp deleted file mode 100644 index 43b2bb55892..00000000000 --- a/intern/SoundSystem/intern/SND_WaveSlot.cpp +++ /dev/null @@ -1,180 +0,0 @@ -/** - * $Id$ - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ - -#include "SND_WaveSlot.h" - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -SND_WaveSlot::~SND_WaveSlot() -{ -#ifdef ONTKEVER - printf("neeeeeee...\n"); -#endif -} - - - -void SND_WaveSlot::SetSampleName(STR_String samplename) -{ - m_samplename = samplename; -} - - - -void SND_WaveSlot::SetLoaded(bool loaded) -{ - m_loaded = loaded; -} - - - -void SND_WaveSlot::SetData(void* data) -{ - m_data = data; -} - - - -void SND_WaveSlot::SetBuffer(unsigned int buffer) -{ - m_buffer = buffer; -} - - - -void SND_WaveSlot::SetSampleFormat(unsigned int sampleformat) -{ - m_sampleformat = sampleformat; -} - - - -void SND_WaveSlot::SetNumberOfChannels(unsigned int numberofchannels) -{ - m_numberofchannels = numberofchannels; -} - - - -void SND_WaveSlot::SetSampleRate(unsigned int samplerate) -{ - m_samplerate = samplerate; -} - - - -void SND_WaveSlot::SetBitRate(unsigned int bitrate) -{ - m_bitrate = bitrate; -} - - - -void SND_WaveSlot::SetNumberOfSamples(unsigned int numberofsamples) -{ - m_numberofsamples = numberofsamples; -} - - - -void SND_WaveSlot::SetFileSize(unsigned int filesize) -{ - m_filesize = filesize; -} - - - -const STR_String& SND_WaveSlot::GetSampleName() -{ - return m_samplename; -} - - - -bool SND_WaveSlot::IsLoaded() const -{ - return m_loaded; -} - - - -void* SND_WaveSlot::GetData() -{ - return m_data; -} - - - -unsigned int SND_WaveSlot::GetBuffer() const -{ - return m_buffer; -} - - - -unsigned int SND_WaveSlot::GetSampleFormat() const -{ - return m_sampleformat; -} - - - -unsigned int SND_WaveSlot::GetNumberOfChannels() const -{ - return m_numberofchannels; -} - - - -unsigned int SND_WaveSlot::GetSampleRate() const -{ - return m_samplerate; -} - - - -unsigned int SND_WaveSlot::GetBitRate() const -{ - return m_bitrate; -} - - - -unsigned int SND_WaveSlot::GetNumberOfSamples() const -{ - return m_numberofsamples; -} - - - -unsigned int SND_WaveSlot::GetFileSize() const -{ - return m_filesize; -} diff --git a/intern/SoundSystem/make/msvc_6_0/SoundSystem.dsp b/intern/SoundSystem/make/msvc_6_0/SoundSystem.dsp deleted file mode 100644 index 1bd973dfb6c..00000000000 --- a/intern/SoundSystem/make/msvc_6_0/SoundSystem.dsp +++ /dev/null @@ -1,206 +0,0 @@ -# Microsoft Developer Studio Project File - Name="SoundSystem" - Package Owner=<4>
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Culture="1033"/> - <Tool - Name="VCWebServiceProxyGeneratorTool"/> - <Tool - Name="VCXMLDataGeneratorTool"/> - <Tool - Name="VCManagedWrapperGeneratorTool"/> - <Tool - Name="VCAuxiliaryManagedWrapperGeneratorTool"/> - </Configuration> - <Configuration - Name="3DPlugin Release|Win32" - OutputDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll" - IntermediateDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll" - ConfigurationType="4" - UseOfMFC="0" - ATLMinimizesCRunTimeLibraryUsage="FALSE" - CharacterSet="2"> - <Tool - Name="VCCLCompilerTool" - InlineFunctionExpansion="1" - AdditionalIncludeDirectories="..\..\..\intern;..\..\..\..\..\..\build\msvc_7\intern\string\include;..\..\..\..\..\..\build\msvc_7\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_7\intern\moto\include" - PreprocessorDefinitions="WIN32,NDEBUG,_LIB" - StringPooling="TRUE" - RuntimeLibrary="2" - EnableFunctionLevelLinking="TRUE" - DefaultCharIsUnsigned="TRUE" - UsePrecompiledHeader="2" - PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll\DummySoundSystem.pch" - AssemblerListingLocation="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll\" - ObjectFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll\" - ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll\" - WarningLevel="2" - SuppressStartupBanner="TRUE" - CompileAs="0"/> - <Tool - Name="VCCustomBuildTool"/> - <Tool - Name="VCLibrarianTool" - OutputFile="..\..\..\..\..\..\build\msvc_7\libs\intern\mtdll\libDummySoundSystem.lib" - SuppressStartupBanner="TRUE"/> - <Tool - Name="VCMIDLTool"/> - <Tool - Name="VCPostBuildEventTool"/> - <Tool - Name="VCPreBuildEventTool"/> - <Tool - Name="VCPreLinkEventTool"/> - <Tool - Name="VCResourceCompilerTool" - PreprocessorDefinitions="NDEBUG" - Culture="1033"/> - <Tool - Name="VCWebServiceProxyGeneratorTool"/> - <Tool - Name="VCXMLDataGeneratorTool"/> - <Tool - Name="VCManagedWrapperGeneratorTool"/> - <Tool - Name="VCAuxiliaryManagedWrapperGeneratorTool"/> - </Configuration> - <Configuration - Name="3DPlugin Debug|Win32" - OutputDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll\debug" - IntermediateDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll\debug" - ConfigurationType="4" - UseOfMFC="0" - ATLMinimizesCRunTimeLibraryUsage="FALSE" - CharacterSet="2"> - <Tool - Name="VCCLCompilerTool" - Optimization="0" - AdditionalIncludeDirectories="..\..\..\intern;..\..\..\..\..\..\build\msvc_7\intern\string\include;..\..\..\..\..\..\build\msvc_7\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_7\intern\moto\include" - PreprocessorDefinitions="WIN32,_DEBUG,_LIB" - BasicRuntimeChecks="3" - RuntimeLibrary="3" - DefaultCharIsUnsigned="TRUE" - UsePrecompiledHeader="2" - PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll\debug\DummySoundSystem.pch" - AssemblerListingLocation="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll\debug\" - ObjectFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll\debug\" - ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\dummy\mtdll\debug\" - WarningLevel="2" - SuppressStartupBanner="TRUE" - DebugInformationFormat="3" - CompileAs="0"/> - <Tool - Name="VCCustomBuildTool"/> - <Tool - Name="VCLibrarianTool" - OutputFile="..\..\..\..\..\..\build\msvc_7\libs\intern\mtdll\debug\libDummySoundSystem.lib" - SuppressStartupBanner="TRUE"/> - <Tool - Name="VCMIDLTool"/> - <Tool - Name="VCPostBuildEventTool"/> - <Tool - Name="VCPreBuildEventTool"/> - <Tool - Name="VCPreLinkEventTool"/> - <Tool - Name="VCResourceCompilerTool" - PreprocessorDefinitions="_DEBUG" - Culture="1033"/> - <Tool - Name="VCWebServiceProxyGeneratorTool"/> - <Tool - Name="VCXMLDataGeneratorTool"/> - <Tool - Name="VCManagedWrapperGeneratorTool"/> - <Tool - Name="VCAuxiliaryManagedWrapperGeneratorTool"/> - </Configuration> - </Configurations> - <References> - </References> - <Files> - <Filter - Name="Source Files" - Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"> - <File - RelativePath="..\..\..\dummy\SND_DummyDevice.cpp"> - </File> - </Filter> - <Filter - Name="Header Files" - Filter="h;hpp;hxx;hm;inl"> - <File - RelativePath="..\..\..\dummy\SND_DummyDevice.h"> - </File> - </Filter> - </Files> - <Globals> - </Globals> -</VisualStudioProject> diff --git a/intern/SoundSystem/make/msvc_7_0/openal/OpenALSoundSystem.vcproj b/intern/SoundSystem/make/msvc_7_0/openal/OpenALSoundSystem.vcproj deleted file mode 100644 index 8ce971ac1aa..00000000000 --- a/intern/SoundSystem/make/msvc_7_0/openal/OpenALSoundSystem.vcproj +++ /dev/null @@ -1,249 +0,0 @@ -<?xml version="1.0" encoding="Windows-1252"?> -<VisualStudioProject - ProjectType="Visual C++" - Version="7.10" - Name="OpenALSoundSystem" - ProjectGUID="{213356A9-3A1F-41DA-9819-1297BCD17DEE}" - SccProjectName="" - SccLocalPath=""> - <Platforms> - <Platform - Name="Win32"/> - </Platforms> - <Configurations> - <Configuration - Name="Blender Debug|Win32" - OutputDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\debug" - IntermediateDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\debug" - ConfigurationType="4" - UseOfMFC="0" - ATLMinimizesCRunTimeLibraryUsage="FALSE" - CharacterSet="2"> - <Tool - Name="VCCLCompilerTool" - Optimization="0" - AdditionalIncludeDirectories="..\..\..\sdl;..\..\..\intern;..\..\..\..\..\..\lib\windows\sdl\include;..\..\..\..\..\..\lib\windows\openal\include;..\..\..\..\..\..\build\msvc_7\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_7\intern\moto\include;..\..\..\..\..\..\build\msvc_7\intern\string\include" - PreprocessorDefinitions="_DEBUG,WIN32,_LIB" - BasicRuntimeChecks="3" - RuntimeLibrary="1" - DefaultCharIsUnsigned="TRUE" - UsePrecompiledHeader="2" - PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\debug\OpenALSoundSystem.pch" - AssemblerListingLocation="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\debug\" - ObjectFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\debug\" - ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\debug\" - WarningLevel="2" - SuppressStartupBanner="TRUE" - DebugInformationFormat="3" - CompileAs="0"/> - <Tool - Name="VCCustomBuildTool"/> - <Tool - Name="VCLibrarianTool" - OutputFile="..\..\..\..\..\..\build\msvc_7\libs\intern\debug\libOpenALSoundSystem.lib" - SuppressStartupBanner="TRUE"/> - <Tool - Name="VCMIDLTool"/> - <Tool - Name="VCPostBuildEventTool"/> - <Tool - Name="VCPreBuildEventTool"/> - <Tool - Name="VCPreLinkEventTool"/> - <Tool - Name="VCResourceCompilerTool" - PreprocessorDefinitions="_DEBUG" - Culture="1033"/> - <Tool - Name="VCWebServiceProxyGeneratorTool"/> - <Tool - Name="VCXMLDataGeneratorTool"/> - <Tool - Name="VCManagedWrapperGeneratorTool"/> - <Tool - Name="VCAuxiliaryManagedWrapperGeneratorTool"/> - </Configuration> - <Configuration - Name="Blender Release|Win32" - OutputDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal" - IntermediateDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal" - ConfigurationType="4" - UseOfMFC="0" - ATLMinimizesCRunTimeLibraryUsage="FALSE" - CharacterSet="2"> - <Tool - Name="VCCLCompilerTool" - InlineFunctionExpansion="1" - AdditionalIncludeDirectories="..\..\..\sdl;..\..\..\intern;..\..\..\..\..\..\lib\windows\sdl\include;..\..\..\..\..\..\lib\windows\openal\include;..\..\..\..\..\..\build\msvc_7\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_7\intern\moto\include;..\..\..\..\..\..\build\msvc_7\intern\string\include" - PreprocessorDefinitions="NDEBUG,WIN32,_LIB" - StringPooling="TRUE" - RuntimeLibrary="0" - EnableFunctionLevelLinking="TRUE" - DefaultCharIsUnsigned="TRUE" - UsePrecompiledHeader="2" - PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\OpenALSoundSystem.pch" - AssemblerListingLocation="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\" - ObjectFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\" - ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\" - WarningLevel="2" - SuppressStartupBanner="TRUE" - CompileAs="0"/> - <Tool - Name="VCCustomBuildTool"/> - <Tool - Name="VCLibrarianTool" - OutputFile="..\..\..\..\..\..\build\msvc_7\libs\intern\libOpenALSoundSystem.lib" - SuppressStartupBanner="TRUE"/> - <Tool - Name="VCMIDLTool"/> - <Tool - Name="VCPostBuildEventTool"/> - <Tool - Name="VCPreBuildEventTool"/> - <Tool - Name="VCPreLinkEventTool"/> - <Tool - Name="VCResourceCompilerTool" - PreprocessorDefinitions="NDEBUG" - Culture="1033"/> - <Tool - Name="VCWebServiceProxyGeneratorTool"/> - <Tool - Name="VCXMLDataGeneratorTool"/> - <Tool - Name="VCManagedWrapperGeneratorTool"/> - <Tool - Name="VCAuxiliaryManagedWrapperGeneratorTool"/> - </Configuration> - <Configuration - Name="3DPlugin Release|Win32" - OutputDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll" - IntermediateDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll" - ConfigurationType="4" - UseOfMFC="0" - ATLMinimizesCRunTimeLibraryUsage="FALSE" - CharacterSet="2"> - <Tool - Name="VCCLCompilerTool" - InlineFunctionExpansion="1" - AdditionalIncludeDirectories="..\..\..\sdl;..\..\..\intern;..\..\..\..\..\..\lib\windows\sdl\include;..\..\..\..\..\..\lib\windows\openal\include;..\..\..\..\..\..\build\msvc_7\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_7\intern\moto\include;..\..\..\..\..\..\build\msvc_7\intern\string\include" - PreprocessorDefinitions="NDEBUG,WIN32,_LIB" - StringPooling="TRUE" - RuntimeLibrary="2" - EnableFunctionLevelLinking="TRUE" - DefaultCharIsUnsigned="TRUE" - UsePrecompiledHeader="2" - PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll\OpenALSoundSystem.pch" - AssemblerListingLocation="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll\" - ObjectFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll\" - ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll\" - WarningLevel="2" - SuppressStartupBanner="TRUE" - CompileAs="0"/> - <Tool - Name="VCCustomBuildTool"/> - <Tool - Name="VCLibrarianTool" - OutputFile="..\..\..\..\..\..\build\msvc_7\libs\intern\mtdll\libOpenALSoundSystem.lib" - SuppressStartupBanner="TRUE"/> - <Tool - Name="VCMIDLTool"/> - <Tool - Name="VCPostBuildEventTool"/> - <Tool - Name="VCPreBuildEventTool"/> - <Tool - Name="VCPreLinkEventTool"/> - <Tool - Name="VCResourceCompilerTool" - PreprocessorDefinitions="NDEBUG" - Culture="1033"/> - <Tool - Name="VCWebServiceProxyGeneratorTool"/> - <Tool - Name="VCXMLDataGeneratorTool"/> - <Tool - Name="VCManagedWrapperGeneratorTool"/> - <Tool - Name="VCAuxiliaryManagedWrapperGeneratorTool"/> - </Configuration> - <Configuration - Name="3DPlugin Debug|Win32" - OutputDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll\debug" - IntermediateDirectory="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll\debug" - ConfigurationType="4" - UseOfMFC="0" - ATLMinimizesCRunTimeLibraryUsage="FALSE" - CharacterSet="2"> - <Tool - Name="VCCLCompilerTool" - Optimization="0" - AdditionalIncludeDirectories="..\..\..\sdl;..\..\..\intern;..\..\..\..\..\..\lib\windows\sdl\include;..\..\..\..\..\..\lib\windows\openal\include;..\..\..\..\..\..\build\msvc_7\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_7\intern\moto\include;..\..\..\..\..\..\build\msvc_7\intern\string\include" - PreprocessorDefinitions="_DEBUG,WIN32,_LIB" - BasicRuntimeChecks="3" - RuntimeLibrary="3" - DefaultCharIsUnsigned="TRUE" - UsePrecompiledHeader="2" - PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll\debug\OpenALSoundSystem.pch" - AssemblerListingLocation="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll\debug\" - ObjectFile="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll\debug\" - ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_7\intern\soundsystem\openal\mtdll\debug\" - WarningLevel="2" - SuppressStartupBanner="TRUE" - DebugInformationFormat="3" - CompileAs="0"/> - <Tool - Name="VCCustomBuildTool"/> - <Tool - Name="VCLibrarianTool" - OutputFile="..\..\..\..\..\..\build\msvc_7\libs\intern\mtdll\debug\libOpenALSoundSystem.lib" - SuppressStartupBanner="TRUE"/> - <Tool - Name="VCMIDLTool"/> - <Tool - Name="VCPostBuildEventTool"/> - <Tool - Name="VCPreBuildEventTool"/> - <Tool - Name="VCPreLinkEventTool"/> - <Tool - Name="VCResourceCompilerTool" - PreprocessorDefinitions="_DEBUG" - Culture="1033"/> - <Tool - Name="VCWebServiceProxyGeneratorTool"/> - <Tool - Name="VCXMLDataGeneratorTool"/> - <Tool - Name="VCManagedWrapperGeneratorTool"/> - <Tool - Name="VCAuxiliaryManagedWrapperGeneratorTool"/> - </Configuration> - </Configurations> - <References> - </References> - <Files> - <Filter - Name="Source Files" - Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"> - <File - RelativePath="..\..\..\openal\SND_OpenALDevice.cpp"> - </File> - <File - RelativePath="..\..\..\sdl\SND_SDLCDDevice.cpp"> - </File> - </Filter> - <Filter - Name="Header Files" - Filter="h;hpp;hxx;hm;inl"> - <File - RelativePath="..\..\..\openal\SND_OpenALDevice.h"> - </File> - <File - RelativePath="..\..\..\sdl\SND_SDLCDDevice.h"> - </File> - </Filter> - </Files> - <Globals> - </Globals> -</VisualStudioProject> diff --git a/intern/SoundSystem/make/msvc_9_0/SoundSystem.vcproj b/intern/SoundSystem/make/msvc_9_0/SoundSystem.vcproj deleted file mode 100644 index bd75fe88d43..00000000000 --- a/intern/SoundSystem/make/msvc_9_0/SoundSystem.vcproj +++ /dev/null @@ -1,447 +0,0 @@ -<?xml version="1.0" encoding="Windows-1252"?>
-<VisualStudioProject
- ProjectType="Visual C++"
- Version="9,00"
- Name="INT_SoundSystem"
- ProjectGUID="{98330220-47A6-42E0-9DE4-AD0FF5D204D6}"
- RootNamespace="SoundSystem"
- TargetFrameworkVersion="131072"
- >
- <Platforms>
- <Platform
- Name="Win32"
- />
- </Platforms>
- <ToolFiles>
- </ToolFiles>
- <Configurations>
- <Configuration
- Name="Blender Debug|Win32"
- OutputDirectory="..\..\..\..\..\build\msvc_9\intern\soundsystem\debug"
- IntermediateDirectory="..\..\..\..\..\build\msvc_9\intern\soundsystem\debug"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- Optimization="0"
- AdditionalIncludeDirectories="..\..;..\..\dummy;..\..\openal;..\..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\..\build\msvc_9\intern\moto\include"
- PreprocessorDefinitions="_DEBUG,WIN32,_LIB"
- BasicRuntimeChecks="3"
- RuntimeLibrary="1"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\intern\soundsystem\debug\SoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\build\msvc_9\intern\soundsystem\debug\"
- ObjectFile="..\..\..\..\..\build\msvc_9\intern\soundsystem\debug\"
- ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\intern\soundsystem\debug\"
- WarningLevel="2"
- SuppressStartupBanner="true"
- DebugInformationFormat="3"
- CompileAs="0"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- PreprocessorDefinitions="_DEBUG"
- Culture="1033"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLibrarianTool"
- OutputFile="..\..\..\..\..\build\msvc_9\libs\intern\debug\libSoundSystem.lib"
- SuppressStartupBanner="true"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- Description="Copying SND SoundSystem files library (debug target) to lib tree."
- CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include MKDIR ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include
XCOPY /Y ..\..\*.h ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include
ECHO Done
"
- />
- </Configuration>
- <Configuration
- Name="Blender Release|Win32"
- OutputDirectory="..\..\..\..\..\build\msvc_9\intern\soundsystem"
- IntermediateDirectory="..\..\..\..\..\build\msvc_9\intern\soundsystem"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- InlineFunctionExpansion="1"
- AdditionalIncludeDirectories="..\..;..\..\dummy;..\..\openal;..\..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\..\build\msvc_9\intern\moto\include"
- PreprocessorDefinitions="NDEBUG,WIN32,_LIB"
- StringPooling="true"
- RuntimeLibrary="0"
- EnableFunctionLevelLinking="true"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\intern\soundsystem\SoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\build\msvc_9\intern\soundsystem\"
- ObjectFile="..\..\..\..\..\build\msvc_9\intern\soundsystem\"
- ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\intern\soundsystem\"
- WarningLevel="2"
- SuppressStartupBanner="true"
- CompileAs="0"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- PreprocessorDefinitions="NDEBUG"
- Culture="1033"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLibrarianTool"
- OutputFile="..\..\..\..\..\build\msvc_9\libs\intern\libSoundSystem.lib"
- SuppressStartupBanner="true"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- Description="Copying SND SoundSystem files library to lib tree."
- CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include MKDIR ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include
XCOPY /Y ..\..\*.h ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include
ECHO Done
"
- />
- </Configuration>
- <Configuration
- Name="3DPlugin Release|Win32"
- OutputDirectory="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll"
- IntermediateDirectory="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- InlineFunctionExpansion="1"
- AdditionalIncludeDirectories="..\..;..\..\dummy;..\..\openal;..\..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\..\build\msvc_9\intern\moto\include"
- PreprocessorDefinitions="NDEBUG,WIN32,_LIB"
- StringPooling="true"
- RuntimeLibrary="2"
- EnableFunctionLevelLinking="true"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll\SoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll\"
- ObjectFile="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll\"
- ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll\"
- WarningLevel="2"
- SuppressStartupBanner="true"
- CompileAs="0"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- PreprocessorDefinitions="NDEBUG"
- Culture="1033"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLibrarianTool"
- OutputFile="..\..\..\..\..\build\msvc_9\libs\intern\mtdll\libSoundSystem.lib"
- SuppressStartupBanner="true"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- Description="Copying SND SoundSystem files library to lib tree."
- CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include MKDIR ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include
XCOPY /Y ..\..\*.h ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include
ECHO Done
"
- />
- </Configuration>
- <Configuration
- Name="3DPlugin Debug|Win32"
- OutputDirectory="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll\debug"
- IntermediateDirectory="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll\debug"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- Optimization="0"
- AdditionalIncludeDirectories="..\..;..\..\dummy;..\..\openal;..\..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\..\build\msvc_9\intern\moto\include"
- PreprocessorDefinitions="_DEBUG,WIN32,_LIB"
- BasicRuntimeChecks="3"
- RuntimeLibrary="3"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll\debug\SoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll\debug\"
- ObjectFile="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll\debug\"
- ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\intern\soundsystem\mtdll\debug\"
- WarningLevel="2"
- SuppressStartupBanner="true"
- DebugInformationFormat="3"
- CompileAs="0"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- PreprocessorDefinitions="_DEBUG"
- Culture="1033"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLibrarianTool"
- OutputFile="..\..\..\..\..\build\msvc_9\libs\intern\mtdll\debug\libSoundSystem.lib"
- SuppressStartupBanner="true"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- Description="Copying SND SoundSystem files library (debug target) to lib tree."
- CommandLine="ECHO Copying header files
IF NOT EXIST ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include MKDIR ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include
XCOPY /Y ..\..\*.h ..\..\..\..\..\build\msvc_9\intern\SoundSystem\include
ECHO Done
"
- />
- </Configuration>
- </Configurations>
- <References>
- </References>
- <Files>
- <Filter
- Name="Source Files"
- Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
- >
- <File
- RelativePath="..\..\intern\SND_AudioDevice.cpp"
- >
- </File>
- <File
- RelativePath="..\..\intern\SND_C-api.cpp"
- >
- </File>
- <File
- RelativePath="..\..\intern\SND_CDObject.cpp"
- >
- </File>
- <File
- RelativePath="..\..\intern\SND_DeviceManager.cpp"
- >
- </File>
- <File
- RelativePath="..\..\intern\SND_IdObject.cpp"
- >
- </File>
- <File
- RelativePath="..\..\intern\SND_Scene.cpp"
- >
- </File>
- <File
- RelativePath="..\..\intern\SND_SoundListener.cpp"
- >
- </File>
- <File
- RelativePath="..\..\intern\SND_SoundObject.cpp"
- >
- </File>
- <File
- RelativePath="..\..\intern\SND_Utils.cpp"
- >
- </File>
- <File
- RelativePath="..\..\intern\SND_WaveCache.cpp"
- >
- </File>
- <File
- RelativePath="..\..\intern\SND_WaveSlot.cpp"
- >
- </File>
- </Filter>
- <Filter
- Name="Header Files"
- Filter="h;hpp;hxx;hm;inl"
- >
- <File
- RelativePath="..\..\intern\SND_AudioDevice.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_C-api.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_CDObject.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_DependKludge.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_DeviceManager.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_IAudioDevice.h"
- >
- </File>
- <File
- RelativePath="..\..\intern\SND_IdObject.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_Object.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_Scene.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_SoundListener.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_SoundObject.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_Utils.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_WaveCache.h"
- >
- </File>
- <File
- RelativePath="..\..\SND_WaveSlot.h"
- >
- </File>
- <File
- RelativePath="..\..\SoundDefines.h"
- >
- </File>
- </Filter>
- </Files>
- <Globals>
- </Globals>
-</VisualStudioProject>
diff --git a/intern/SoundSystem/make/msvc_9_0/dummy/DummySoundSystem.vcproj b/intern/SoundSystem/make/msvc_9_0/dummy/DummySoundSystem.vcproj deleted file mode 100644 index 2109d92d430..00000000000 --- a/intern/SoundSystem/make/msvc_9_0/dummy/DummySoundSystem.vcproj +++ /dev/null @@ -1,343 +0,0 @@ -<?xml version="1.0" encoding="Windows-1252"?>
-<VisualStudioProject
- ProjectType="Visual C++"
- Version="9,00"
- Name="INT_DummySoundSystem"
- ProjectGUID="{FAF46346-65CC-4DB2-85C4-B99826F79D0C}"
- RootNamespace="DummySoundSystem"
- TargetFrameworkVersion="131072"
- >
- <Platforms>
- <Platform
- Name="Win32"
- />
- </Platforms>
- <ToolFiles>
- </ToolFiles>
- <Configurations>
- <Configuration
- Name="Blender Release|Win32"
- OutputDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy"
- IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- InlineFunctionExpansion="1"
- AdditionalIncludeDirectories="..\..\..\intern;..\..\..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_9\intern\moto\include"
- PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
- StringPooling="true"
- RuntimeLibrary="0"
- EnableFunctionLevelLinking="true"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\DummySoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\"
- ObjectFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\"
- ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\"
- WarningLevel="2"
- SuppressStartupBanner="true"
- CompileAs="0"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- PreprocessorDefinitions="NDEBUG"
- Culture="1033"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLibrarianTool"
- OutputFile="..\..\..\..\..\..\build\msvc_9\libs\intern\libDummySoundSystem.lib"
- SuppressStartupBanner="true"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- />
- </Configuration>
- <Configuration
- Name="Blender Debug|Win32"
- OutputDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\debug"
- IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\debug"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- Optimization="0"
- AdditionalIncludeDirectories="..\..\..\intern;..\..\..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_9\intern\moto\include"
- PreprocessorDefinitions="WIN32,_DEBUG,_LIB"
- BasicRuntimeChecks="3"
- RuntimeLibrary="1"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\debug\DummySoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\debug\"
- ObjectFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\debug\"
- ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\debug\"
- WarningLevel="2"
- SuppressStartupBanner="true"
- DebugInformationFormat="3"
- CompileAs="0"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- PreprocessorDefinitions="_DEBUG"
- Culture="1033"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLibrarianTool"
- OutputFile="..\..\..\..\..\..\build\msvc_9\libs\intern\debug\libDummySoundSystem.lib"
- SuppressStartupBanner="true"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- />
- </Configuration>
- <Configuration
- Name="3DPlugin Release|Win32"
- OutputDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll"
- IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- InlineFunctionExpansion="1"
- AdditionalIncludeDirectories="..\..\..\intern;..\..\..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_9\intern\moto\include"
- PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
- StringPooling="true"
- RuntimeLibrary="2"
- EnableFunctionLevelLinking="true"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll\DummySoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll\"
- ObjectFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll\"
- ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll\"
- WarningLevel="2"
- SuppressStartupBanner="true"
- CompileAs="0"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- PreprocessorDefinitions="NDEBUG"
- Culture="1033"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLibrarianTool"
- OutputFile="..\..\..\..\..\..\build\msvc_9\libs\intern\mtdll\libDummySoundSystem.lib"
- SuppressStartupBanner="true"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- />
- </Configuration>
- <Configuration
- Name="3DPlugin Debug|Win32"
- OutputDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll\debug"
- IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll\debug"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- Optimization="0"
- AdditionalIncludeDirectories="..\..\..\intern;..\..\..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_9\intern\moto\include"
- PreprocessorDefinitions="WIN32,_DEBUG,_LIB"
- BasicRuntimeChecks="3"
- RuntimeLibrary="3"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll\debug\DummySoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll\debug\"
- ObjectFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll\debug\"
- ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\dummy\mtdll\debug\"
- WarningLevel="2"
- SuppressStartupBanner="true"
- DebugInformationFormat="3"
- CompileAs="0"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- PreprocessorDefinitions="_DEBUG"
- Culture="1033"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLibrarianTool"
- OutputFile="..\..\..\..\..\..\build\msvc_9\libs\intern\mtdll\debug\libDummySoundSystem.lib"
- SuppressStartupBanner="true"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- />
- </Configuration>
- </Configurations>
- <References>
- </References>
- <Files>
- <Filter
- Name="Source Files"
- Filter="cpp;c;cxx;rc;def;r;odl;idl;hpj;bat"
- >
- <File
- RelativePath="..\..\..\dummy\SND_DummyDevice.cpp"
- >
- </File>
- </Filter>
- <Filter
- Name="Header Files"
- Filter="h;hpp;hxx;hm;inl"
- >
- <File
- RelativePath="..\..\..\dummy\SND_DummyDevice.h"
- >
- </File>
- </Filter>
- </Files>
- <Globals>
- </Globals>
-</VisualStudioProject>
diff --git a/intern/SoundSystem/make/msvc_9_0/openal/OpenALSoundSystem.vcproj b/intern/SoundSystem/make/msvc_9_0/openal/OpenALSoundSystem.vcproj deleted file mode 100644 index 5593f00cb2b..00000000000 --- a/intern/SoundSystem/make/msvc_9_0/openal/OpenALSoundSystem.vcproj +++ /dev/null @@ -1,351 +0,0 @@ -<?xml version="1.0" encoding="Windows-1252"?>
-<VisualStudioProject
- ProjectType="Visual C++"
- Version="9,00"
- Name="INT_OpenALSoundSystem"
- ProjectGUID="{213356A9-3A1F-41DA-9819-1297BCD17DEE}"
- RootNamespace="OpenALSoundSystem"
- TargetFrameworkVersion="131072"
- >
- <Platforms>
- <Platform
- Name="Win32"
- />
- </Platforms>
- <ToolFiles>
- </ToolFiles>
- <Configurations>
- <Configuration
- Name="Blender Debug|Win32"
- OutputDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\debug"
- IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\debug"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- Optimization="0"
- AdditionalIncludeDirectories="..\..\..\sdl;..\..\..\intern;..\..\..\..\..\..\lib\windows\sdl\include;..\..\..\..\..\..\lib\windows\openal\include;..\..\..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\..\..\build\msvc_9\intern\string\include"
- PreprocessorDefinitions="_DEBUG,WIN32,_LIB"
- BasicRuntimeChecks="3"
- RuntimeLibrary="1"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\debug\OpenALSoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\debug\"
- ObjectFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\debug\"
- ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\debug\"
- WarningLevel="2"
- SuppressStartupBanner="true"
- DebugInformationFormat="3"
- CompileAs="0"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- PreprocessorDefinitions="_DEBUG"
- Culture="1033"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLibrarianTool"
- OutputFile="..\..\..\..\..\..\build\msvc_9\libs\intern\debug\libOpenALSoundSystem.lib"
- SuppressStartupBanner="true"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- />
- </Configuration>
- <Configuration
- Name="Blender Release|Win32"
- OutputDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal"
- IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- InlineFunctionExpansion="1"
- AdditionalIncludeDirectories="..\..\..\sdl;..\..\..\intern;..\..\..\..\..\..\lib\windows\sdl\include;..\..\..\..\..\..\lib\windows\openal\include;..\..\..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\..\..\build\msvc_9\intern\string\include"
- PreprocessorDefinitions="NDEBUG,WIN32,_LIB"
- StringPooling="true"
- RuntimeLibrary="0"
- EnableFunctionLevelLinking="true"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\OpenALSoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\"
- ObjectFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\"
- ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\"
- WarningLevel="2"
- SuppressStartupBanner="true"
- CompileAs="0"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- PreprocessorDefinitions="NDEBUG"
- Culture="1033"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLibrarianTool"
- OutputFile="..\..\..\..\..\..\build\msvc_9\libs\intern\libOpenALSoundSystem.lib"
- SuppressStartupBanner="true"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- />
- </Configuration>
- <Configuration
- Name="3DPlugin Release|Win32"
- OutputDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\mtdll"
- IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\mtdll"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- InlineFunctionExpansion="1"
- AdditionalIncludeDirectories="..\..\..\sdl;..\..\..\intern;..\..\..\..\..\..\lib\windows\sdl\include;..\..\..\..\..\..\lib\windows\openal\include;..\..\..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\..\..\build\msvc_9\intern\string\include"
- PreprocessorDefinitions="NDEBUG,WIN32,_LIB"
- StringPooling="true"
- RuntimeLibrary="2"
- EnableFunctionLevelLinking="true"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\mtdll\OpenALSoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\mtdll\"
- ObjectFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\mtdll\"
- ProgramDataBaseFileName="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\mtdll\"
- WarningLevel="2"
- SuppressStartupBanner="true"
- CompileAs="0"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- PreprocessorDefinitions="NDEBUG"
- Culture="1033"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLibrarianTool"
- OutputFile="..\..\..\..\..\..\build\msvc_9\libs\intern\mtdll\libOpenALSoundSystem.lib"
- SuppressStartupBanner="true"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
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- Name="VCFxCopTool"
- />
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- Name="VCPostBuildEventTool"
- />
- </Configuration>
- <Configuration
- Name="3DPlugin Debug|Win32"
- OutputDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\mtdll\debug"
- IntermediateDirectory="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\mtdll\debug"
- ConfigurationType="4"
- InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
- UseOfMFC="0"
- ATLMinimizesCRunTimeLibraryUsage="false"
- CharacterSet="2"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- Optimization="0"
- AdditionalIncludeDirectories="..\..\..\sdl;..\..\..\intern;..\..\..\..\..\..\lib\windows\sdl\include;..\..\..\..\..\..\lib\windows\openal\include;..\..\..\..\..\..\build\msvc_9\intern\soundsystem\include;..\..\..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\..\..\build\msvc_9\intern\string\include"
- PreprocessorDefinitions="_DEBUG,WIN32,_LIB"
- BasicRuntimeChecks="3"
- RuntimeLibrary="3"
- DefaultCharIsUnsigned="true"
- UsePrecompiledHeader="0"
- PrecompiledHeaderFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\mtdll\debug\OpenALSoundSystem.pch"
- AssemblerListingLocation="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\mtdll\debug\"
- ObjectFile="..\..\..\..\..\..\build\msvc_9\intern\soundsystem\openal\mtdll\debug\"
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diff --git a/intern/SoundSystem/openal/SND_OpenALDevice.cpp b/intern/SoundSystem/openal/SND_OpenALDevice.cpp deleted file mode 100644 index 424a05246ac..00000000000 --- a/intern/SoundSystem/openal/SND_OpenALDevice.cpp +++ /dev/null @@ -1,864 +0,0 @@ -/* - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - * SND_OpenALDevice derived from SND_IAudioDevice - */ - -#ifdef WIN32 -#pragma warning (disable:4786) // get rid of stupid stl-visual compiler debug warning -#endif //WIN32 - -#include "SND_OpenALDevice.h" -#ifndef __APPLE__ -#include "SND_SDLCDDevice.h" -#endif -#include "SoundDefines.h" - -#include "SND_Utils.h" - -#ifdef APPLE_FRAMEWORK_FIX -#include <al.h> -#include <alc.h> -#else -#include <AL/al.h> -#include <AL/alc.h> -#endif - -#include <stdio.h> -#include <stdlib.h> -#if defined(WIN32) -#include <io.h> -#else -#include <unistd.h> -#endif -#include <fcntl.h> - -#include <signal.h> - -/*************************** ALUT replacement *****************************/ - -/* instead of relying on alut, we just implement our own - * WAV loading functions, hopefully more reliable */ - -#include <stdlib.h> - -typedef struct /* WAV File-header */ -{ - ALubyte Id[4]; - ALsizei Size; - ALubyte Type[4]; -} WAVFileHdr_Struct; - -typedef struct /* WAV Fmt-header */ -{ - ALushort Format; - ALushort Channels; - ALuint SamplesPerSec; - ALuint BytesPerSec; - ALushort BlockAlign; - ALushort BitsPerSample; -} WAVFmtHdr_Struct; - -typedef struct /* WAV FmtEx-header */ -{ - ALushort Size; - ALushort SamplesPerBlock; -} WAVFmtExHdr_Struct; - -typedef struct /* WAV Smpl-header */ -{ - ALuint Manufacturer; - ALuint Product; - ALuint SamplePeriod; - ALuint Note; - ALuint FineTune; - ALuint SMPTEFormat; - ALuint SMPTEOffest; - ALuint Loops; - ALuint SamplerData; - struct - { - ALuint Identifier; - ALuint Type; - ALuint Start; - ALuint End; - ALuint Fraction; - ALuint Count; - } Loop[1]; -} WAVSmplHdr_Struct; - -typedef struct /* WAV Chunk-header */ -{ - ALubyte Id[4]; - ALuint Size; -} WAVChunkHdr_Struct; - -static void *SND_loadFileIntoMemory(const char *filename, int *len_r) -{ - FILE *fp= fopen(filename, "rb"); - void *data; - - if (!fp) { - *len_r= -1; - return NULL; - } - - fseek(fp, 0L, SEEK_END); - *len_r= ftell(fp); - fseek(fp, 0L, SEEK_SET); - - data= malloc(*len_r); - if (!data) { - *len_r= -1; - return NULL; - } - - if (fread(data, *len_r, 1, fp)!=1) { - *len_r= -1; - free(data); - return NULL; - } - - return data; -} - -#define TEST_SWITCH_INT(a) if(big_endian) { \ - char s_i, *p_i; \ - p_i= (char *)&(a); \ - s_i=p_i[0]; p_i[0]=p_i[3]; p_i[3]=s_i; \ - s_i=p_i[1]; p_i[1]=p_i[2]; p_i[2]=s_i; } - -#define TEST_SWITCH_SHORT(a) if(big_endian) { \ - char s_i, *p_i; \ - p_i= (char *)&(a); \ - s_i=p_i[0]; p_i[0]=p_i[1]; p_i[1]=s_i; } - -static int stream_read(void *out, ALbyte **stream, ALsizei size, ALsizei *memsize) -{ - if(size <= *memsize) { - memcpy(out, *stream, size); - return 1; - } - else { - memset(out, 0, size); - return 0; - } -} - -static int stream_skip(ALbyte **stream, ALsizei size, ALsizei *memsize) -{ - if(size <= *memsize) { - *stream += size; - *memsize -= size; - return 1; - } - else - return 0; -} - -ALvoid SND_alutLoadWAVMemory(ALbyte *memory,ALsizei memsize,ALenum *format,ALvoid **data,ALsizei *size,ALsizei *freq,ALboolean *loop) -{ - WAVChunkHdr_Struct ChunkHdr; - WAVFmtExHdr_Struct FmtExHdr; - WAVFileHdr_Struct FileHdr; - WAVSmplHdr_Struct SmplHdr; - WAVFmtHdr_Struct FmtHdr; - ALbyte *Stream= memory; - int test_endian= 1; - int big_endian= !((char*)&test_endian)[0]; - - *format=AL_FORMAT_MONO16; - *data=NULL; - *size=0; - *freq=22050; - *loop=AL_FALSE; - - if(!Stream) - return; - - stream_read(&FileHdr,&Stream,sizeof(WAVFileHdr_Struct),&memsize); - stream_skip(&Stream,sizeof(WAVFileHdr_Struct),&memsize); - - TEST_SWITCH_INT(FileHdr.Size); - FileHdr.Size=((FileHdr.Size+1)&~1)-4; - - while((FileHdr.Size!=0) && stream_read(&ChunkHdr,&Stream,sizeof(WAVChunkHdr_Struct),&memsize)) - { - TEST_SWITCH_INT(ChunkHdr.Size); - stream_skip(&Stream,sizeof(WAVChunkHdr_Struct),&memsize); - - if (!memcmp(ChunkHdr.Id,"fmt ",4)) - { - stream_read(&FmtHdr,&Stream,sizeof(WAVFmtHdr_Struct),&memsize); - - TEST_SWITCH_SHORT(FmtHdr.Format); - TEST_SWITCH_SHORT(FmtHdr.Channels); - TEST_SWITCH_INT(FmtHdr.SamplesPerSec); - TEST_SWITCH_INT(FmtHdr.BytesPerSec); - TEST_SWITCH_SHORT(FmtHdr.BlockAlign); - TEST_SWITCH_SHORT(FmtHdr.BitsPerSample); - - if (FmtHdr.Format==0x0001) - { - *format=(FmtHdr.Channels==1? - (FmtHdr.BitsPerSample==8?AL_FORMAT_MONO8:AL_FORMAT_MONO16): - (FmtHdr.BitsPerSample==8?AL_FORMAT_STEREO8:AL_FORMAT_STEREO16)); - *freq=FmtHdr.SamplesPerSec; - } - else - { - stream_read(&FmtExHdr,&Stream,sizeof(WAVFmtExHdr_Struct),&memsize); - TEST_SWITCH_SHORT(FmtExHdr.Size); - TEST_SWITCH_SHORT(FmtExHdr.SamplesPerBlock); - } - } - else if (!memcmp(ChunkHdr.Id,"data",4)) - { - if (FmtHdr.Format==0x0001) - { - if((ALsizei)ChunkHdr.Size <= memsize) - { - *size=ChunkHdr.Size; - *data=malloc(ChunkHdr.Size+31); - - if (*data) { - stream_read(*data,&Stream,ChunkHdr.Size,&memsize); - memset(((char *)*data)+ChunkHdr.Size,0,31); - - if(FmtHdr.BitsPerSample == 16 && big_endian) { - int a, len= *size/2; - short *samples= (short*)*data; - - for(a=0; a<len; a++) { - TEST_SWITCH_SHORT(samples[a]) - } - } - } - } - } - else if (FmtHdr.Format==0x0011) - { - //IMA ADPCM - } - else if (FmtHdr.Format==0x0055) - { - //MP3 WAVE - } - } - else if (!memcmp(ChunkHdr.Id,"smpl",4)) - { - stream_read(&SmplHdr,&Stream,sizeof(WAVSmplHdr_Struct),&memsize); - - TEST_SWITCH_INT(SmplHdr.Manufacturer); - TEST_SWITCH_INT(SmplHdr.Product); - TEST_SWITCH_INT(SmplHdr.SamplePeriod); - TEST_SWITCH_INT(SmplHdr.Note); - TEST_SWITCH_INT(SmplHdr.FineTune); - TEST_SWITCH_INT(SmplHdr.SMPTEFormat); - TEST_SWITCH_INT(SmplHdr.SMPTEOffest); - TEST_SWITCH_INT(SmplHdr.Loops); - TEST_SWITCH_INT(SmplHdr.SamplerData); - - *loop = (SmplHdr.Loops ? AL_TRUE : AL_FALSE); - } - - if(!stream_skip(&Stream, ChunkHdr.Size + (ChunkHdr.Size&1), &memsize)) - break; - - FileHdr.Size-=(((ChunkHdr.Size+1)&~1)+8); - } -} - -ALvoid SND_alutUnloadWAV(ALenum format,ALvoid *data,ALsizei size,ALsizei freq) -{ - if (data) - free(data); -} - -/************************ Device Implementation ****************************/ - -SND_OpenALDevice::SND_OpenALDevice() - : SND_AudioDevice(), - m_context(NULL), - m_device(NULL) -{ - /* Removed the functionality for checking if noaudio was provided on */ - /* the commandline. */ - m_audio = true; - m_context = NULL; - m_buffersinitialized = false; - m_sourcesinitialized = false; - - // let's check if we can get openal to initialize... - if (m_audio) - { - m_audio = false; - - ALCdevice *dev = alcOpenDevice(NULL); - if (dev) { - m_context = alcCreateContext(dev, NULL); - - if (m_context) { -#ifdef AL_VERSION_1_1 - alcMakeContextCurrent((ALCcontext*)m_context); -#else - alcMakeContextCurrent(m_context); -#endif - m_audio = true; - m_device = dev; -#ifdef __linux__ - /* - * SIGHUP Hack: - * - * On Linux, alcDestroyContext generates a SIGHUP (Hangup) when killing the OpenAL - * mixer thread, which kills Blender. - * - * So we set the signal to ignore.... - * - * TODO: check if this applies to other platforms. - * - */ - signal(SIGHUP, SIG_IGN); -#endif - } - } - - } - - // then try to generate some buffers - if (m_audio) - { - // let openal generate its buffers - alGenBuffers(NUM_BUFFERS, m_buffers); - m_buffersinitialized = true; - - for (int i = 0; i < NUM_BUFFERS; i++) - { - if (!alIsBuffer(m_buffers[i])) - { - //printf("\n\n WARNING: OpenAL returned with an error. Continuing without audio.\n\n"); - m_audio = false; - break; - } - } - } - - // next: the sources - if (m_audio) - { -#ifdef __APPLE__ - ALenum alc_error = ALC_NO_ERROR; // openal_2.12 -#elif defined(_WIN32) - // alcGetError has no arguments on windows - ALenum alc_error = alcGetError(); // openal_2.14+ -#else - ALenum alc_error = alcGetError(NULL); // openal_2.14+ -#endif - - // let openal generate its sources - if (alc_error == ALC_NO_ERROR) - { - int i; - - for (i=0;i<NUM_SOURCES;i++) - m_sources[i] = 0; - alGenSources(NUM_SOURCES, m_sources); - m_sourcesinitialized = true; - } - } - - // let's get us a wavecache - if (m_audio) - { - m_wavecache = new SND_WaveCache(); - } -#ifndef __APPLE__ - m_cdrom = new SND_SDLCDDevice(); -#endif -} - -void SND_OpenALDevice::UseCD(void) const -{ - // we use SDL for CD, so we create the system - SND_CDObject::CreateSystem(); - -} - -void SND_OpenALDevice::MakeCurrent() const -{ -#ifdef WIN32 - alcMakeContextCurrent(m_context); -#endif -} - - - -SND_OpenALDevice::~SND_OpenALDevice() -{ - MakeCurrent(); - - if (m_sourcesinitialized) - { - for (int i = 0; i < NUM_SOURCES; i++) - alSourceStop(m_sources[i]); - - alDeleteSources(NUM_SOURCES, m_sources); - m_sourcesinitialized = false; - } - - if (m_buffersinitialized) - { - alDeleteBuffers(NUM_BUFFERS, m_buffers); - m_buffersinitialized = false; - } - - if (m_context) { - MakeCurrent(); -#ifdef AL_VERSION_1_1 - alcDestroyContext((ALCcontext*)m_context); -#else - alcDestroyContext(m_context); -#endif - m_context = NULL; - } - -#ifdef __linux__ - // restore the signal state above. - signal(SIGHUP, SIG_DFL); -#endif - // let's see if we used the cd. if not, just leave it alone - SND_CDObject* pCD = SND_CDObject::Instance(); - - if (pCD) - { - this->StopCD(); - SND_CDObject::DisposeSystem(); - } -#ifndef __APPLE__ - if (m_cdrom) - delete m_cdrom; -#endif - if (m_device) - alcCloseDevice((ALCdevice*) m_device); -} - - -SND_WaveSlot* SND_OpenALDevice::LoadSample(const STR_String& name, - void* memlocation, - int size) -{ - SND_WaveSlot* waveslot = NULL; - STR_String samplename = name; - - if (m_audio) - { - /* create the waveslot */ - waveslot = m_wavecache->GetWaveSlot(samplename); - - /* do we support this sample? */ - if (SND_IsSampleValid(name, memlocation)) - { - if (waveslot) - { - bool freemem = false; - int buffer = waveslot->GetBuffer(); - void* data = NULL; - char loop = 'a'; - int sampleformat, bitrate, numberofchannels; - ALenum al_error = alGetError(); - ALsizei samplerate, numberofsamples; // openal_2.14+ - - /* Give them some safe defaults just incase */ - bitrate = numberofchannels = 0; - - if (!(size && memlocation)) { - memlocation = SND_loadFileIntoMemory(samplename.Ptr(), &size); - freemem = true; - } - - /* load the sample from memory? */ - if (size && memlocation) - { - waveslot->SetFileSize(size); - - /* what was (our) buffer? */ - int buffer = waveslot->GetBuffer(); - - /* get some info out of the sample */ - SND_GetSampleInfo((signed char*)memlocation, waveslot); - numberofchannels = SND_GetNumberOfChannels(memlocation); - bitrate = SND_GetBitRate(memlocation); - - /* load the sample into openal */ - SND_alutLoadWAVMemory((ALbyte*)memlocation, size, &sampleformat, &data, &numberofsamples, &samplerate, &loop); - /* put it in the buffer */ - alBufferData(m_buffers[buffer], sampleformat, data, numberofsamples, samplerate); - } - - if(freemem) - free(memlocation); - - /* fill the waveslot with info */ - al_error = alGetError(); - if (al_error == AL_NO_ERROR && m_buffers[buffer]) - { - waveslot->SetData(data); - waveslot->SetSampleFormat(sampleformat); - waveslot->SetNumberOfChannels(numberofchannels); - waveslot->SetSampleRate(samplerate); - waveslot->SetBitRate(bitrate); - waveslot->SetNumberOfSamples(numberofsamples); - - /* if the loading succeeded, mark the waveslot */ - waveslot->SetLoaded(true); - } - else - { - /* or when it failed, free the waveslot */ - m_wavecache->RemoveSample(waveslot->GetSampleName(), waveslot->GetBuffer()); - waveslot = NULL; - } - - /* and free the original stuff (copy was made in openal) */ - SND_alutUnloadWAV(sampleformat, data, numberofsamples, samplerate); - } - } - else - { - /* sample not supported, remove waveslot */ - m_wavecache->RemoveSample(waveslot->GetSampleName(), waveslot->GetBuffer()); - waveslot = NULL; - } - } - return waveslot; -} - - - -// listener's and general stuff ////////////////////////////////////////////////////// - - - -/* sets the global dopplervelocity */ -void SND_OpenALDevice::SetDopplerVelocity(MT_Scalar dopplervelocity) const -{ - alDopplerVelocity ((float)dopplervelocity); -} - - - -/* sets the global dopplerfactor */ -void SND_OpenALDevice::SetDopplerFactor(MT_Scalar dopplerfactor) const -{ - alDopplerFactor ((float)dopplerfactor); -} - - - -/* sets the global rolloff factor */ -void SND_OpenALDevice::SetListenerRollOffFactor(MT_Scalar rollofffactor) const -{ - // not implemented in openal -} - - - -void SND_OpenALDevice::NextFrame() const -{ - // CD -#ifndef __APPLE__ - m_cdrom->NextFrame(); -#endif - // not needed by openal -} - - - -// set the gain for the listener -void SND_OpenALDevice::SetListenerGain(float gain) const -{ - alListenerf (AL_GAIN, gain); -} - - - -void SND_OpenALDevice::InitListener() -{ - // initialize the listener with these values that won't change - // (as long as we can have only one listener) - // now we can superimpose all listeners on each other (for they - // have the same settings) - float lispos[3] = {0,0,0}; - float lisvel[3] = {0,0,0}; -#ifdef WIN32 - float lisori[6] = {0,1,0,0,0,1}; -#else - float lisori[6] = {0,0,1,0,-1,0}; -#endif - - alListenerfv(AL_POSITION, lispos); - alListenerfv(AL_VELOCITY, lisvel); - alListenerfv(AL_ORIENTATION, lisori); -} - - - -// source playstate stuff //////////////////////////////////////////////////////////// - - - -/* sets the buffer */ -void SND_OpenALDevice::SetObjectBuffer(int id, unsigned int buffer) -{ - alSourcei (m_sources[id], AL_BUFFER, m_buffers[buffer]); -} - - - -// check if the sound's still playing -int SND_OpenALDevice::GetPlayState(int id) -{ - int alstate = 0; - int result = 0; - -#ifdef __APPLE__ - alGetSourcei(m_sources[id], AL_SOURCE_STATE, &alstate); -#else - alGetSourceiv(m_sources[id], AL_SOURCE_STATE, &alstate); -#endif - - switch(alstate) - { - case AL_INITIAL: - { - result = SND_INITIAL; - break; - } - case AL_PLAYING: - { - result = SND_PLAYING; - break; - } - case AL_PAUSED: - { - result = SND_PAUSED; - break; - } - case AL_STOPPED: - { - result = SND_STOPPED; - break; - } - default: - result = SND_UNKNOWN; - } - - return result; -} - - - -// make the source play -void SND_OpenALDevice::PlayObject(int id) -{ - alSourcePlay(m_sources[id]); -} - - - -// make the source stop -void SND_OpenALDevice::StopObject(int id) const -{ - float obpos[3] = {0,0,0}; - float obvel[3] = {0,0,0}; - - alSourcefv(m_sources[id], AL_POSITION, obpos); - alSourcefv(m_sources[id], AL_VELOCITY, obvel); - - alSourcef(m_sources[id], AL_GAIN, 1.0); - alSourcef(m_sources[id], AL_PITCH, 1.0); - alSourcei(m_sources[id], AL_LOOPING, AL_FALSE); - alSourceStop(m_sources[id]); -} - - - -// stop all sources -void SND_OpenALDevice::StopAllObjects() -{ - alSourceStopv(NUM_SOURCES, m_sources); -} - - - -// pause the source -void SND_OpenALDevice::PauseObject(int id) const -{ - alSourcePause(m_sources[id]); -} - - - -// source properties stuff //////////////////////////////////////////////////////////// - - - -// give openal the object's pitch -void SND_OpenALDevice::SetObjectPitch(int id, MT_Scalar pitch) const -{ - alSourcef (m_sources[id], AL_PITCH, (float)pitch); -} - - - -// give openal the object's gain -void SND_OpenALDevice::SetObjectGain(int id, MT_Scalar gain) const -{ - alSourcef (m_sources[id], AL_GAIN, (float)gain); -} - - - -// give openal the object's looping -void SND_OpenALDevice::SetObjectLoop(int id, unsigned int loopmode) const -{ - if (loopmode == SND_LOOP_OFF) - { - //printf("%d - ", id); - alSourcei (m_sources[id], AL_LOOPING, AL_FALSE); - } - else - alSourcei (m_sources[id], AL_LOOPING, AL_TRUE); -} - -void SND_OpenALDevice::SetObjectLoopPoints(int id, unsigned int loopstart, unsigned int loopend) const -{ - - -} - - -void SND_OpenALDevice::SetObjectMinGain(int id, MT_Scalar mingain) const -{ - alSourcef (m_sources[id], AL_MIN_GAIN, (float)mingain); -} - - - -void SND_OpenALDevice::SetObjectMaxGain(int id, MT_Scalar maxgain) const -{ - alSourcef (m_sources[id], AL_MAX_GAIN, (float)maxgain); -} - - - -void SND_OpenALDevice::SetObjectRollOffFactor(int id, MT_Scalar rollofffactor) const -{ - alSourcef (m_sources[id], AL_ROLLOFF_FACTOR, (float)rollofffactor); -} - - - -void SND_OpenALDevice::SetObjectReferenceDistance(int id, MT_Scalar referencedistance) const -{ - alSourcef (m_sources[id], AL_REFERENCE_DISTANCE, (float)referencedistance); -} - - - -// give openal the object's position -void SND_OpenALDevice::ObjectIs2D(int id) const -{ - float obpos[3] = {0,0,0}; - float obvel[3] = {0,0,0}; - - alSourcefv(m_sources[id], AL_POSITION, obpos); - alSourcefv(m_sources[id], AL_VELOCITY, obvel); -} - - - -void SND_OpenALDevice::SetObjectTransform(int id, - const MT_Vector3& position, - const MT_Vector3& velocity, - const MT_Matrix3x3& orientation, - const MT_Vector3& lisposition, - const MT_Scalar& rollofffactor) const -{ - float obpos[3]; - float obvel[3]; - - obpos[0] = (float)position[0] * (float)rollofffactor; //x (l/r) - obpos[1] = (float)position[1] * (float)rollofffactor; - obpos[2] = (float)position[2] * (float)rollofffactor; - - alSourcefv(m_sources[id], AL_POSITION, obpos); - - velocity.getValue(obvel); - alSourcefv(m_sources[id], AL_VELOCITY, obvel); -} - -void SND_OpenALDevice::PlayCD(int track) const -{ -#ifndef __APPLE__ - m_cdrom->PlayCD(track); -#endif -} - - -void SND_OpenALDevice::PauseCD(bool pause) const -{ -#ifndef __APPLE__ - m_cdrom->PauseCD(pause); -#endif -} - -void SND_OpenALDevice::StopCD() const -{ -#ifndef __APPLE__ - SND_CDObject* pCD = SND_CDObject::Instance(); - - if (pCD && pCD->GetUsed()) - { - m_cdrom->StopCD(); - } -#endif -} - -void SND_OpenALDevice::SetCDPlaymode(int playmode) const -{ -#ifndef __APPLE__ - m_cdrom->SetCDPlaymode(playmode); -#endif -} - -void SND_OpenALDevice::SetCDGain(MT_Scalar gain) const -{ -#ifndef __APPLE__ - m_cdrom->SetCDGain(gain); -#endif -} diff --git a/intern/SoundSystem/openal/SND_OpenALDevice.h b/intern/SoundSystem/openal/SND_OpenALDevice.h deleted file mode 100644 index a7b97cc314f..00000000000 --- a/intern/SoundSystem/openal/SND_OpenALDevice.h +++ /dev/null @@ -1,107 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SND_OPENALDEVICE -#define SND_OPENALDEVICE - -#include "SND_AudioDevice.h" -#include "SoundDefines.h" - -struct SDL_CD; - -class SND_OpenALDevice : public SND_AudioDevice -{ -public: - SND_OpenALDevice(); - virtual ~SND_OpenALDevice(); - - SND_WaveSlot* LoadSample(const STR_String& samplename, - void* memlocation, - int size); - - void InitListener(); - void SetListenerGain(float gain) const; - void SetDopplerVelocity(MT_Scalar dopplervelocity) const; - void SetDopplerFactor(MT_Scalar dopplerfactor) const; - void SetListenerRollOffFactor(MT_Scalar rollofffactor) const; - - void MakeCurrent() const; - - void NextFrame() const; - void UseCD() const; - - void SetObjectBuffer(int id, unsigned int buffer); - - int GetPlayState(int id); - void PlayObject(int id); - void StopObject(int id) const; - void StopAllObjects(); - void PauseObject(int id) const; - - void SetObjectLoop(int id, unsigned int loopmode) const; - void SetObjectLoopPoints(int id, unsigned int loopstart, unsigned int loopend) const; - void SetObjectPitch(int id, MT_Scalar pitch) const; - void SetObjectGain(int id, MT_Scalar gain) const; - void SetObjectMinGain(int id, MT_Scalar mingain) const; - void SetObjectMaxGain(int id, MT_Scalar maxgain) const; - void SetObjectRollOffFactor(int id, MT_Scalar rolloff) const; - void SetObjectReferenceDistance(int id, MT_Scalar distance) const; - - void SetObjectTransform(int id, - const MT_Vector3& position, - const MT_Vector3& velocity, - const MT_Matrix3x3& orientation, - const MT_Vector3& lisposition, - const MT_Scalar& rollofffactor) const; - void ObjectIs2D(int id) const; - - void PlayCD(int track) const; - void PauseCD(bool pause) const; - void StopCD() const; - void SetCDPlaymode(int playmode) const; - void SetCDGain(MT_Scalar gain) const; - - void StartUsingDSP() {}; - float* GetSpectrum() { return NULL; } - void StopUsingDSP() {}; - -private: - void* m_context; - void* m_device; - - unsigned int m_buffers[NUM_BUFFERS]; - unsigned int m_sources[NUM_SOURCES]; - bool m_buffersinitialized; - bool m_sourcesinitialized; -#ifndef __APPLE__ - class SND_SDLCDDevice* m_cdrom; -#endif -}; - -#endif //SND_OPENALDEVICE - diff --git a/intern/SoundSystem/openal/pthread_cancel.cpp b/intern/SoundSystem/openal/pthread_cancel.cpp deleted file mode 100644 index bb36d1dd136..00000000000 --- a/intern/SoundSystem/openal/pthread_cancel.cpp +++ /dev/null @@ -1,67 +0,0 @@ -/* $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - * FreeBSD 3.4 does not yet have pthread_cancel (3.5 and above do) - */ - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -#ifdef __FreeBSD__ - -#include <osreldate.h> - -#if (__FreeBSD_version < 350000) -#include <pthread.h> - -#define FD_READ 0x1 -#define _FD_LOCK(_fd,_type,_ts) _thread_fd_lock(_fd, _type, _ts) -#define _FD_UNLOCK(_fd,_type) _thread_fd_unlock(_fd, _type) - -int pthread_cancel(pthread_t pthread) { - pthread_exit(NULL); - return 0; -} - -long fpathconf(int fd, int name) -{ - long ret; - - if ((ret = _FD_LOCK(fd, FD_READ, NULL)) == 0) { - ret = _thread_sys_fpathconf(fd, name); - _FD_UNLOCK(fd, FD_READ); - } - return ret; -} - -#endif - -int pthread_atfork(void *a, void *b, void *c) { - return 0; -} - -#endif diff --git a/intern/SoundSystem/sdl/SND_SDLCDDevice.cpp b/intern/SoundSystem/sdl/SND_SDLCDDevice.cpp deleted file mode 100644 index 5054c39e8a1..00000000000 --- a/intern/SoundSystem/sdl/SND_SDLCDDevice.cpp +++ /dev/null @@ -1,171 +0,0 @@ -/* - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - * SND_SDLCDDevice - */ - -#ifdef HAVE_CONFIG_H -#include <config.h> -#endif - -#ifdef WIN32 -#pragma warning (disable:4786) // get rid of stupid stl-visual compiler debug warning -#endif //WIN32 - -#include "MT_Scalar.h" - -#include "SND_SDLCDDevice.h" -#include "SoundDefines.h" - -#ifndef DISABLE_SDL -#include <SDL.h> -#else -#include <stdio.h> -#endif - -SND_SDLCDDevice::SND_SDLCDDevice() : - m_cdrom(NULL), - m_cdplaying(false), - m_cdtrack(0), - m_cdplaymode(SND_CD_TRACK), - m_frame(0) -{ - init(); -} - -void SND_SDLCDDevice::init() -{ -#ifdef DISABLE_SDL - fprintf(stderr, "Blender compiled without SDL, no CDROM support\n"); - return; -#else - if (SDL_InitSubSystem(SDL_INIT_CDROM)) - { - fprintf(stderr, "Error initializing CDROM\n"); - return; - } - - /* Check for CD drives */ - if(!SDL_CDNumDrives()) - { - /* None found */ - fprintf(stderr, "No CDROM devices available\n"); - return; - } - - /* Open the default drive */ - m_cdrom = SDL_CDOpen(0); - - /* Did if open? Check if cdrom is NULL */ - if(!m_cdrom) - { - fprintf(stderr, "Couldn't open drive: %s\n", SDL_GetError()); - return; - } -#endif -} - -SND_SDLCDDevice::~SND_SDLCDDevice() -{ -#ifndef DISABLE_SDL - StopCD(); - SDL_CDClose(m_cdrom); -#endif -} - -void SND_SDLCDDevice::NextFrame() -{ -#ifndef DISABLE_SDL - m_frame++; - m_frame &= 127; - - if (!m_frame && m_cdrom && m_cdplaying && SDL_CDStatus(m_cdrom) == CD_STOPPED) - { - switch (m_cdplaymode) - { - case SND_CD_ALL: - if (m_cdtrack < m_cdrom->numtracks) - PlayCD(m_cdtrack + 1); - else - m_cdplaying = false; - break; - default: - case SND_CD_TRACK: - m_cdplaying = false; - break; - case SND_CD_TRACKLOOP: - PlayCD(m_cdtrack); - break; - } - - } -#endif -} - -void SND_SDLCDDevice::PlayCD(int track) -{ -#ifndef DISABLE_SDL - if ( m_cdrom && CD_INDRIVE(SDL_CDStatus(m_cdrom)) ) { - SDL_CDPlayTracks(m_cdrom, track-1, 0, track, 0); - m_cdplaying = true; - m_cdtrack = track; - } -#endif -} - - -void SND_SDLCDDevice::PauseCD(bool pause) -{ -#ifndef DISABLE_SDL - if (!m_cdrom) - return; - - if (pause) - SDL_CDPause(m_cdrom); - else - SDL_CDResume(m_cdrom); -#endif -} - -void SND_SDLCDDevice::StopCD() -{ -#ifndef DISABLE_SDL - if (m_cdrom) - SDL_CDStop(m_cdrom); - m_cdplaying = false; -#endif -} - -void SND_SDLCDDevice::SetCDPlaymode(int playmode) -{ - m_cdplaymode = playmode; -} - -void SND_SDLCDDevice::SetCDGain(MT_Scalar gain) -{ - -} diff --git a/intern/SoundSystem/sdl/SND_SDLCDDevice.h b/intern/SoundSystem/sdl/SND_SDLCDDevice.h deleted file mode 100644 index 96600d53630..00000000000 --- a/intern/SoundSystem/sdl/SND_SDLCDDevice.h +++ /dev/null @@ -1,58 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL LICENSE BLOCK ***** - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU General Public License - * as published by the Free Software Foundation; either version 2 - * of the License, or (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software Foundation, - * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. - * - * ***** END GPL LICENSE BLOCK ***** - */ -#ifndef SND_SDLCDDEVICE -#define SND_SDLCDDEVICE - -struct SDL_CD; - -class SND_SDLCDDevice -{ -public: - SND_SDLCDDevice(); - ~SND_SDLCDDevice(); - - void NextFrame(); - - void PlayCD(int track); - void PauseCD(bool pause); - void StopCD(); - void SetCDPlaymode(int playmode); - void SetCDGain(MT_Scalar gain); - -private: - void init(); - /* CD Audio */ - SDL_CD* m_cdrom; - bool m_cdplaying; - int m_cdtrack; - unsigned char m_cdplaymode; - unsigned char m_frame; -}; - -#endif diff --git a/intern/audaspace/CMakeLists.txt b/intern/audaspace/CMakeLists.txt new file mode 100644 index 00000000000..587ef30979b --- /dev/null +++ b/intern/audaspace/CMakeLists.txt @@ -0,0 +1,64 @@ +# $Id$ +# ***** BEGIN LGPL LICENSE BLOCK ***** +# +# Copyright 2009 Jörg Hermann Müller +# +# This file is part of AudaSpace. +# +# AudaSpace is free software: you can redistribute it and/or modify +# it under the terms of the GNU Lesser General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# AudaSpace is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU Lesser General Public License for more details. +# +# You should have received a copy of the GNU Lesser General Public License +# along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. +# +# ***** END LGPL LICENSE BLOCK ***** + +SET(INC . intern FX SRC ${PTHREADS_INC} ${LIBSAMPLERATE_INC}) + +FILE(GLOB SRC intern/*.cpp intern/*.h FX/*.cpp SRC/*.cpp) + +IF(WITH_FFMPEG) + SET(INC ${INC} ffmpeg ${FFMPEG_INC}) + FILE(GLOB FFMPEGSRC ffmpeg/*.cpp) + ADD_DEFINITIONS(-DWITH_FFMPEG) +ENDIF(WITH_FFMPEG) + +IF(WITH_SDL) + SET(INC ${INC} SDL ${SDL_INCLUDE_DIR}) + FILE(GLOB SDLSRC SDL/*.cpp) + ADD_DEFINITIONS(-DWITH_SDL) +ENDIF(WITH_SDL) + +IF(WITH_OPENAL) + SET(INC ${INC} OpenAL ${OPENAL_INCLUDE_DIR}) + FILE(GLOB OPENALSRC OpenAL/*.cpp) + ADD_DEFINITIONS(-DWITH_OPENAL) + + STRING(REGEX MATCH ".*ramework.*" FRAMEWORK ${OPENAL_INCLUDE_DIR}) + IF(FRAMEWORK) + ADD_DEFINITIONS(-DAPPLE_FRAMEWORK_FIX) + ENDIF(FRAMEWORK) +ENDIF(WITH_OPENAL) + +IF(WITH_JACK) + SET(INC ${INC} jack ${JACK_INC}) + FILE(GLOB JACKSRC jack/*.cpp) + ADD_DEFINITIONS(-DWITH_JACK) +ENDIF(WITH_JACK) + +IF(WITH_SNDFILE) + SET(INC ${INC} sndfile ${SNDFILE_INC}) + FILE(GLOB SNDFILESRC sndfile/*.cpp) + ADD_DEFINITIONS(-DWITH_SNDFILE) +ENDIF(WITH_SNDFILE) + +SET(SRC ${SRC} ${FFMPEGSRC} ${SNDFILESRC} ${SDLSRC} ${OPENALSRC} ${JACKSRC}) + +BLENDERLIB(bf_audaspace "${SRC}" "${INC}") diff --git a/intern/audaspace/COPYING b/intern/audaspace/COPYING new file mode 100644 index 00000000000..94a9ed024d3 --- /dev/null +++ b/intern/audaspace/COPYING @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_DelayFactory.h" +#include "AUD_DelayReader.h" +#include "AUD_Space.h" + +AUD_DelayFactory::AUD_DelayFactory(AUD_IFactory* factory, float delay) : + AUD_EffectFactory(factory), + m_delay(delay) {} + +AUD_DelayFactory::AUD_DelayFactory(float delay) : + AUD_EffectFactory(0), + m_delay(delay) {} + +float AUD_DelayFactory::getDelay() +{ + return m_delay; +} + +void AUD_DelayFactory::setDelay(float delay) +{ + m_delay = delay; +} + +AUD_IReader* AUD_DelayFactory::createReader() +{ + AUD_IReader* reader = getReader(); + + if(reader != 0) + { + reader = new AUD_DelayReader(reader, m_delay); AUD_NEW("reader") + } + + return reader; +} diff --git a/intern/audaspace/FX/AUD_DelayFactory.h b/intern/audaspace/FX/AUD_DelayFactory.h new file mode 100644 index 00000000000..5ad4b9ab996 --- /dev/null +++ b/intern/audaspace/FX/AUD_DelayFactory.h @@ -0,0 +1,70 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_DELAYFACTORY +#define AUD_DELAYFACTORY + +#include "AUD_EffectFactory.h" + +/** + * This factory plays another factory delayed. + */ +class AUD_DelayFactory : public AUD_EffectFactory +{ +private: + /** + * The delay in samples. + */ + float m_delay; + +public: + /** + * Creates a new delay factory. + * \param factory The input factory. + * \param delay The desired delay in seconds. + */ + AUD_DelayFactory(AUD_IFactory* factory = 0, float delay = 0); + + /** + * Creates a new delay factory. + * \param delay The desired delay in seconds. + */ + AUD_DelayFactory(float delay); + + /** + * Returns the delay in seconds. + */ + float getDelay(); + + /** + * Sets the delay. + * \param delay The new delay value in seconds. + */ + void setDelay(float delay); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_DELAYFACTORY diff --git a/intern/audaspace/FX/AUD_DelayReader.cpp b/intern/audaspace/FX/AUD_DelayReader.cpp new file mode 100644 index 00000000000..38d3b893b5c --- /dev/null +++ b/intern/audaspace/FX/AUD_DelayReader.cpp @@ -0,0 +1,111 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_DelayReader.h" +#include "AUD_Buffer.h" + +#include <cstring> + +AUD_DelayReader::AUD_DelayReader(AUD_IReader* reader, float delay) : + AUD_EffectReader(reader) +{ + m_delay = (int)(delay * reader->getSpecs().rate); + m_remdelay = m_delay; + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") +} + +AUD_DelayReader::~AUD_DelayReader() +{ + delete m_buffer; AUD_DELETE("buffer") +} + +void AUD_DelayReader::seek(int position) +{ + if(position < 0) + return; + + if(position < m_delay) + { + m_remdelay = m_delay - position; + m_reader->seek(0); + } + else + { + m_remdelay = 0; + m_reader->seek(position - m_delay); + } +} + +int AUD_DelayReader::getLength() +{ + int len = m_reader->getLength(); + if(len < 0) + return len; + return len+m_delay; +} + +int AUD_DelayReader::getPosition() +{ + if(m_remdelay > 0) + return m_delay-m_remdelay; + return m_reader->getPosition() + m_delay; +} + +void AUD_DelayReader::read(int & length, sample_t* & buffer) +{ + if(m_remdelay > 0) + { + int samplesize = AUD_SAMPLE_SIZE(m_reader->getSpecs()); + + if(m_buffer->getSize() < length*samplesize) + m_buffer->resize(length*samplesize); + + if(length > m_remdelay) + { + if(getSpecs().format == AUD_FORMAT_U8) + memset(m_buffer->getBuffer(), 0x80, m_remdelay*samplesize); + else + memset(m_buffer->getBuffer(), 0, m_remdelay*samplesize); + int len = length - m_remdelay; + m_reader->read(len, buffer); + memcpy(m_buffer->getBuffer()+m_remdelay*samplesize, + buffer, len*samplesize); + if(len < length-m_remdelay) + length = m_remdelay + len; + m_remdelay = 0; + } + else + { + if(getSpecs().format == AUD_FORMAT_U8) + memset(m_buffer->getBuffer(), 0x80, length*samplesize); + else + memset(m_buffer->getBuffer(), 0, length*samplesize); + m_remdelay -= length; + } + buffer = m_buffer->getBuffer(); + } + else + m_reader->read(length, buffer); +} diff --git a/intern/audaspace/FX/AUD_DelayReader.h b/intern/audaspace/FX/AUD_DelayReader.h new file mode 100644 index 00000000000..4662b455dfc --- /dev/null +++ b/intern/audaspace/FX/AUD_DelayReader.h @@ -0,0 +1,73 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_DELAYREADER +#define AUD_DELAYREADER + +#include "AUD_EffectReader.h" +class AUD_Buffer; + +/** + * This class reads another reader and changes it's delay. + */ +class AUD_DelayReader : public AUD_EffectReader +{ +private: + /** + * The playback buffer. + */ + AUD_Buffer *m_buffer; + + /** + * The delay level. + */ + int m_delay; + + /** + * The remaining delay for playback. + */ + int m_remdelay; + +public: + /** + * Creates a new delay reader. + * \param reader The reader to read from. + * \param delay The delay in seconds. + * \exception AUD_Exception Thrown if the reader specified is NULL. + */ + AUD_DelayReader(AUD_IReader* reader, float delay); + + /** + * Destroys the reader. + */ + virtual ~AUD_DelayReader(); + + virtual void seek(int position); + virtual int getLength(); + virtual int getPosition(); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_DELAYREADER diff --git a/intern/audaspace/FX/AUD_DoubleReader.cpp b/intern/audaspace/FX/AUD_DoubleReader.cpp new file mode 100644 index 00000000000..8d3afbf2f1d --- /dev/null +++ b/intern/audaspace/FX/AUD_DoubleReader.cpp @@ -0,0 +1,158 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_DoubleReader.h" +#include "AUD_Buffer.h" + +#include <cstring> + +AUD_DoubleReader::AUD_DoubleReader(AUD_IReader* reader1, + AUD_IReader* reader2) : + m_reader1(reader1), m_reader2(reader2) +{ + try + { + if(!reader1) + AUD_THROW(AUD_ERROR_READER); + + if(!reader2) + AUD_THROW(AUD_ERROR_READER); + + AUD_Specs s1, s2; + s1 = reader1->getSpecs(); + s2 = reader2->getSpecs(); + if(memcmp(&s1, &s2, sizeof(AUD_Specs)) != 0) + AUD_THROW(AUD_ERROR_READER); + } + + catch(AUD_Exception) + { + if(reader1) + { + delete reader1; AUD_DELETE("reader") + } + if(reader2) + { + delete reader2; AUD_DELETE("reader") + } + + throw; + } + + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") + m_finished1 = false; +} + +AUD_DoubleReader::~AUD_DoubleReader() +{ + delete m_reader1; AUD_DELETE("reader") + delete m_reader2; AUD_DELETE("reader") + delete m_buffer; AUD_DELETE("buffer") +} + +bool AUD_DoubleReader::isSeekable() +{ + return false; +} + +void AUD_DoubleReader::seek(int position) +{ + int length1 = m_reader1->getLength(); + + if(position < 0) + position = 0; + + if(position < length1) + { + m_reader1->seek(position); + m_reader2->seek(0); + m_finished1 = false; + } + else + { + m_reader2->seek(position-length1); + m_finished1 = true; + } +} + +int AUD_DoubleReader::getLength() +{ + int len1 = m_reader1->getLength(); + int len2 = m_reader2->getLength(); + if(len1 < 0 || len2 < 0) + return -1; + return len1 + len2; +} + +int AUD_DoubleReader::getPosition() +{ + return m_reader1->getPosition() + m_reader2->getPosition(); +} + +AUD_Specs AUD_DoubleReader::getSpecs() +{ + return m_reader1->getSpecs(); +} + +AUD_ReaderType AUD_DoubleReader::getType() +{ + if(m_reader1->getType() == AUD_TYPE_BUFFER && + m_reader2->getType() == AUD_TYPE_BUFFER) + return AUD_TYPE_BUFFER; + return AUD_TYPE_STREAM; +} + +bool AUD_DoubleReader::notify(AUD_Message &message) +{ + return m_reader1->notify(message) | m_reader2->notify(message); +} + +void AUD_DoubleReader::read(int & length, sample_t* & buffer) +{ + if(!m_finished1) + { + int len = length; + m_reader1->read(len, buffer); + if(len < length) + { + int samplesize = AUD_SAMPLE_SIZE(m_reader1->getSpecs()); + if(m_buffer->getSize() < length * samplesize) + m_buffer->resize(length * samplesize); + memcpy(m_buffer->getBuffer(), buffer, len*samplesize); + len = length - len; + length -= len; + m_reader2->read(len, buffer); + memcpy(m_buffer->getBuffer() + length*samplesize, + buffer, len*samplesize); + length += len; + buffer = m_buffer->getBuffer(); + m_finished1 = true; + } + } + else + { + m_reader2->read(length, buffer); + } +} diff --git a/intern/audaspace/FX/AUD_DoubleReader.h b/intern/audaspace/FX/AUD_DoubleReader.h new file mode 100644 index 00000000000..d82b81ec0ba --- /dev/null +++ b/intern/audaspace/FX/AUD_DoubleReader.h @@ -0,0 +1,83 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_DOUBLEREADER +#define AUD_DOUBLEREADER + +#include "AUD_IReader.h" +class AUD_Buffer; + +/** + * This reader plays two readers with the same specs sequently. + */ +class AUD_DoubleReader : public AUD_IReader +{ +private: + /** + * The first reader. + */ + AUD_IReader* m_reader1; + + /** + * The second reader. + */ + AUD_IReader* m_reader2; + + /** + * Whether we've reached the end of the first reader. + */ + bool m_finished1; + + /** + * The playback buffer for the intersecting part. + */ + AUD_Buffer* m_buffer; + +public: + /** + * Creates a new ping pong reader. + * \param reader1 The first reader to read from. + * \param reader2 The second reader to read from. + * \exception AUD_Exception Thrown if one of the reader specified is NULL + * or the specs from the readers differ. + */ + AUD_DoubleReader(AUD_IReader* reader1, AUD_IReader* reader2); + + /** + * Destroys the reader. + */ + virtual ~AUD_DoubleReader(); + + virtual bool isSeekable(); + virtual void seek(int position); + virtual int getLength(); + virtual int getPosition(); + virtual AUD_Specs getSpecs(); + virtual AUD_ReaderType getType(); + virtual bool notify(AUD_Message &message); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_DOUBLEREADER diff --git a/intern/audaspace/FX/AUD_EffectFactory.cpp b/intern/audaspace/FX/AUD_EffectFactory.cpp new file mode 100644 index 00000000000..882499416b7 --- /dev/null +++ b/intern/audaspace/FX/AUD_EffectFactory.cpp @@ -0,0 +1,50 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_EffectFactory.h" +#include "AUD_IReader.h" + +AUD_IReader* AUD_EffectFactory::getReader() +{ + if(m_factory != 0) + return m_factory->createReader(); + + return 0; +} + +AUD_EffectFactory::AUD_EffectFactory(AUD_IFactory* factory) +{ + m_factory = factory; +} + +void AUD_EffectFactory::setFactory(AUD_IFactory* factory) +{ + m_factory = factory; +} + +AUD_IFactory* AUD_EffectFactory::getFactory() +{ + return m_factory; +} diff --git a/intern/audaspace/FX/AUD_EffectFactory.h b/intern/audaspace/FX/AUD_EffectFactory.h new file mode 100644 index 00000000000..67259b9e6c3 --- /dev/null +++ b/intern/audaspace/FX/AUD_EffectFactory.h @@ -0,0 +1,76 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_EFFECTFACTORY +#define AUD_EFFECTFACTORY + +#include "AUD_IFactory.h" + +/** + * This factory is a base class for all effect factories that take one other + * factory as input. + */ +class AUD_EffectFactory : public AUD_IFactory +{ +protected: + /** + * If there is no reader it is created out of this factory. + */ + AUD_IFactory* m_factory; + + /** + * Returns the reader created out of the factory. + * This method can be used for the createReader function of the implementing + * classes. + * \return The reader created out of the factory or NULL if there is none. + */ + AUD_IReader* getReader(); + +public: + /** + * Creates a new factory. + * \param factory The input factory. + */ + AUD_EffectFactory(AUD_IFactory* factory); + + /** + * Destroys the factory. + */ + virtual ~AUD_EffectFactory() {} + + /** + * Sets the input factory. + * \param factory The input factory. + */ + void setFactory(AUD_IFactory* factory); + + /** + * Returns the saved factory. + * \return The factory or NULL if there has no factory been saved. + */ + AUD_IFactory* getFactory(); +}; + +#endif //AUD_EFFECTFACTORY diff --git a/intern/audaspace/FX/AUD_EffectReader.cpp b/intern/audaspace/FX/AUD_EffectReader.cpp new file mode 100644 index 00000000000..47026b88440 --- /dev/null +++ b/intern/audaspace/FX/AUD_EffectReader.cpp @@ -0,0 +1,78 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_EffectReader.h" + +AUD_EffectReader::AUD_EffectReader(AUD_IReader* reader) +{ + if(!reader) + AUD_THROW(AUD_ERROR_READER); + m_reader = reader; +} + +AUD_EffectReader::~AUD_EffectReader() +{ + delete m_reader; AUD_DELETE("reader") +} + +bool AUD_EffectReader::isSeekable() +{ + return m_reader->isSeekable(); +} + +void AUD_EffectReader::seek(int position) +{ + m_reader->seek(position); +} + +int AUD_EffectReader::getLength() +{ + return m_reader->getLength(); +} + +int AUD_EffectReader::getPosition() +{ + return m_reader->getPosition(); +} + +AUD_Specs AUD_EffectReader::getSpecs() +{ + return m_reader->getSpecs(); +} + +AUD_ReaderType AUD_EffectReader::getType() +{ + return m_reader->getType(); +} + +bool AUD_EffectReader::notify(AUD_Message &message) +{ + return m_reader->notify(message); +} + +void AUD_EffectReader::read(int & length, sample_t* & buffer) +{ + m_reader->read(length, buffer); +} diff --git a/intern/audaspace/FX/AUD_EffectReader.h b/intern/audaspace/FX/AUD_EffectReader.h new file mode 100644 index 00000000000..f64bf34077d --- /dev/null +++ b/intern/audaspace/FX/AUD_EffectReader.h @@ -0,0 +1,66 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_EFFECTREADER +#define AUD_EFFECTREADER + +#include "AUD_IReader.h" + +/** + * This reader is a base class for all effect readers that take one other reader + * as input. + */ +class AUD_EffectReader : public AUD_IReader +{ +protected: + /** + * The reader to read from. + */ + AUD_IReader* m_reader; + +public: + /** + * Creates a new effect reader. + * \param reader The reader to read from. + * \exception AUD_Exception Thrown if the reader specified is NULL. + */ + AUD_EffectReader(AUD_IReader* reader); + + /** + * Destroys the reader. + */ + virtual ~AUD_EffectReader(); + + virtual bool isSeekable(); + virtual void seek(int position); + virtual int getLength(); + virtual int getPosition(); + virtual AUD_Specs getSpecs(); + virtual AUD_ReaderType getType(); + virtual bool notify(AUD_Message &message); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_EFFECTREADER diff --git a/intern/audaspace/FX/AUD_FaderFactory.cpp b/intern/audaspace/FX/AUD_FaderFactory.cpp new file mode 100644 index 00000000000..4357e11bd43 --- /dev/null +++ b/intern/audaspace/FX/AUD_FaderFactory.cpp @@ -0,0 +1,84 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_FaderFactory.h" +#include "AUD_FaderReader.h" + +AUD_FaderFactory::AUD_FaderFactory(AUD_IFactory* factory, AUD_FadeType type, + float start, float length) : + AUD_EffectFactory(factory), + m_type(type), + m_start(start), + m_length(length) {} + +AUD_FaderFactory::AUD_FaderFactory(AUD_FadeType type, + float start, float length) : + AUD_EffectFactory(0), + m_type(type), + m_start(start), + m_length(length) {} + +AUD_FadeType AUD_FaderFactory::getType() +{ + return m_type; +} + +void AUD_FaderFactory::setType(AUD_FadeType type) +{ + m_type = type; +} + +float AUD_FaderFactory::getStart() +{ + return m_start; +} + +void AUD_FaderFactory::setStart(float start) +{ + m_start = start; +} + +float AUD_FaderFactory::getLength() +{ + return m_length; +} + +void AUD_FaderFactory::setLength(float length) +{ + m_length = length; +} + +AUD_IReader* AUD_FaderFactory::createReader() +{ + AUD_IReader* reader = getReader(); + + if(reader != 0) + { + reader = new AUD_FaderReader(reader, m_type, m_start, m_length); + AUD_NEW("reader") + } + + return reader; +} diff --git a/intern/audaspace/FX/AUD_FaderFactory.h b/intern/audaspace/FX/AUD_FaderFactory.h new file mode 100644 index 00000000000..4999ccac8f1 --- /dev/null +++ b/intern/audaspace/FX/AUD_FaderFactory.h @@ -0,0 +1,111 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_FADERFACTORY +#define AUD_FADERFACTORY + +#include "AUD_EffectFactory.h" + +/** + * This factory fades another factory. + * If the fading type is AUD_FADE_IN, everything before the fading start will be + * silenced, for AUD_FADE_OUT that's true for everything after fading ends. + */ +class AUD_FaderFactory : public AUD_EffectFactory +{ +private: + /** + * The fading type. + */ + AUD_FadeType m_type; + + /** + * The fading start. + */ + float m_start; + + /** + * The fading length. + */ + float m_length; + +public: + /** + * Creates a new fader factory. + * \param factory The input factory. + * \param type The fading type. + * \param start The time where fading should start in seconds. + * \param length How long fading should last in seconds. + */ + AUD_FaderFactory(AUD_IFactory* factory = 0, + AUD_FadeType type = AUD_FADE_IN, + float start = 0.0f, float length = 1.0f); + + /** + * Creates a new fader factory. + * \param type The fading type. + * \param start The time where fading should start in seconds. + * \param length How long fading should last in seconds. + */ + AUD_FaderFactory(AUD_FadeType type = AUD_FADE_IN, + float start = 0.0f, float length = 1.0f); + + /** + * Returns the fading type. + */ + AUD_FadeType getType(); + + /** + * Sets the fading type. + * \param type The new fading type: AUD_FADE_IN or AUD_FADE_OUT. + */ + void setType(AUD_FadeType type); + + /** + * Returns the fading start. + */ + float getStart(); + + /** + * Sets the fading start. + * \param start The new fading start. + */ + void setStart(float start); + + /** + * Returns the fading length. + */ + float getLength(); + + /** + * Sets the fading length. + * \param start The new fading length. + */ + void setLength(float length); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_FADERFACTORY diff --git a/intern/audaspace/FX/AUD_FaderReader.cpp b/intern/audaspace/FX/AUD_FaderReader.cpp new file mode 100644 index 00000000000..d5096e7fae1 --- /dev/null +++ b/intern/audaspace/FX/AUD_FaderReader.cpp @@ -0,0 +1,133 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_FaderReader.h" +#include "AUD_Buffer.h" + +#include <cstring> + +AUD_FaderReader::AUD_FaderReader(AUD_IReader* reader, AUD_FadeType type, + float start,float length) : + AUD_EffectReader(reader), + m_type(type), + m_start(start), + m_length(length) +{ + int bigendian = 1; + bigendian = (((char*)&bigendian)[0]) ? 0: 1; // 1 if Big Endian + + switch(m_reader->getSpecs().format) + { + case AUD_FORMAT_S16: + m_adjust = AUD_volume_adjust<int16_t>; + break; + case AUD_FORMAT_S32: + m_adjust = AUD_volume_adjust<int32_t>; + break; + case AUD_FORMAT_FLOAT32: + m_adjust = AUD_volume_adjust<float>; + break; + case AUD_FORMAT_FLOAT64: + m_adjust = AUD_volume_adjust<double>; + break; + case AUD_FORMAT_U8: + m_adjust = AUD_volume_adjust_u8; + break; + case AUD_FORMAT_S24: + m_adjust = bigendian ? AUD_volume_adjust_s24_be : + AUD_volume_adjust_s24_le; + break; + default: + delete m_reader; + AUD_THROW(AUD_ERROR_READER); + } + + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") +} + +AUD_FaderReader::~AUD_FaderReader() +{ + delete m_buffer; AUD_DELETE("buffer") +} + +bool AUD_FaderReader::notify(AUD_Message &message) +{ + return m_reader->notify(message); +} + +void AUD_FaderReader::read(int & length, sample_t* & buffer) +{ + int position = m_reader->getPosition(); + AUD_Specs specs = m_reader->getSpecs(); + int samplesize = AUD_SAMPLE_SIZE(specs); + + m_reader->read(length, buffer); + + if(m_buffer->getSize() < length * samplesize) + m_buffer->resize(length * samplesize); + + if((position + length) / (float)specs.rate <= m_start) + { + if(m_type != AUD_FADE_OUT) + { + buffer = m_buffer->getBuffer(); + memset(buffer, + specs.format == AUD_FORMAT_U8 ? 0x80 : 0, + length * samplesize); + } + } + else if(position / (float)specs.rate >= m_start+m_length) + { + if(m_type == AUD_FADE_OUT) + { + buffer = m_buffer->getBuffer(); + memset(buffer, + specs.format == AUD_FORMAT_U8 ? 0x80 : 0, + length * samplesize); + } + } + else + { + sample_t* buf = m_buffer->getBuffer(); + float volume; + + for(int i = 0; i < length; i++) + { + volume = (((position+i)/(float)specs.rate)-m_start) / m_length; + if(volume > 1.0f) + volume = 1.0f; + else if(volume < 0.0f) + volume = 0.0f; + + if(m_type == AUD_FADE_OUT) + volume = 1.0f - volume; + + m_adjust(buf + i * samplesize, buffer + i * samplesize, + specs.channels, volume); + } + + buffer = buf; + } +} diff --git a/intern/audaspace/FX/AUD_FaderReader.h b/intern/audaspace/FX/AUD_FaderReader.h new file mode 100644 index 00000000000..773643b2f5d --- /dev/null +++ b/intern/audaspace/FX/AUD_FaderReader.h @@ -0,0 +1,86 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_FADERREADER +#define AUD_FADERREADER + +#include "AUD_EffectReader.h" +#include "AUD_ConverterFunctions.h" +class AUD_Buffer; + +/** + * This class fades another reader. + * If the fading type is AUD_FADE_IN, everything before the fading start will be + * silenced, for AUD_FADE_OUT that's true for everything after fading ends. + */ +class AUD_FaderReader : public AUD_EffectReader +{ +private: + /** + * The playback buffer. + */ + AUD_Buffer *m_buffer; + + /** + * The fading type. + */ + AUD_FadeType m_type; + + /** + * The fading start. + */ + float m_start; + + /** + * The fading length. + */ + float m_length; + + /** + * Volume adjustment function. + */ + AUD_volume_adjust_f m_adjust; + +public: + /** + * Creates a new fader reader. + * \param type The fading type. + * \param start The time where fading should start in seconds. + * \param length How long fading should last in seconds. + * \exception AUD_Exception Thrown if the reader specified is NULL. + */ + AUD_FaderReader(AUD_IReader* reader, AUD_FadeType type, + float start,float length); + + /** + * Destroys the reader. + */ + virtual ~AUD_FaderReader(); + + virtual bool notify(AUD_Message &message); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_FADERREADER diff --git a/intern/audaspace/FX/AUD_LimiterFactory.cpp b/intern/audaspace/FX/AUD_LimiterFactory.cpp new file mode 100644 index 00000000000..6f19575240a --- /dev/null +++ b/intern/audaspace/FX/AUD_LimiterFactory.cpp @@ -0,0 +1,67 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_LimiterFactory.h" +#include "AUD_LimiterReader.h" +#include "AUD_Space.h" + +AUD_LimiterFactory::AUD_LimiterFactory(AUD_IFactory* factory, + float start, float end) : + AUD_EffectFactory(factory), + m_start(start), + m_end(end) {} + +float AUD_LimiterFactory::getStart() +{ + return m_start; +} + +void AUD_LimiterFactory::setStart(float start) +{ + m_start = start; +} + +float AUD_LimiterFactory::getEnd() +{ + return m_end; +} + +void AUD_LimiterFactory::setEnd(float end) +{ + m_end = end; +} + +AUD_IReader* AUD_LimiterFactory::createReader() +{ + AUD_IReader* reader = getReader(); + + if(reader != 0) + { + reader = new AUD_LimiterReader(reader, m_start, m_end); + AUD_NEW("reader") + } + + return reader; +} diff --git a/intern/audaspace/FX/AUD_LimiterFactory.h b/intern/audaspace/FX/AUD_LimiterFactory.h new file mode 100644 index 00000000000..588fea6eb4b --- /dev/null +++ b/intern/audaspace/FX/AUD_LimiterFactory.h @@ -0,0 +1,84 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_LIMITERFACTORY +#define AUD_LIMITERFACTORY + +#include "AUD_EffectFactory.h" + +/** + * This factory limits another factory in start and end time. + */ +class AUD_LimiterFactory : public AUD_EffectFactory +{ +private: + /** + * The start time. + */ + float m_start; + + /** + * The end time. + */ + float m_end; + +public: + /** + * Creates a new limiter factory. + * \param factory The input factory. + * \param start The desired start time. + * \param end The desired end time, a negative value signals that it should + * play to the end. + */ + AUD_LimiterFactory(AUD_IFactory* factory = 0, + float start = 0, float end = -1); + + /** + * Returns the start time. + */ + float getStart(); + + /** + * Sets the start time. + * \param start The new start time. + */ + void setStart(float start); + + /** + * Returns the end time. + */ + float getEnd(); + + /** + * Sets the end time. + * \param end The new end time, a negative value signals that it should play + * to the end. + */ + void setEnd(float end); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_LIMITERFACTORY diff --git a/intern/audaspace/FX/AUD_LimiterReader.cpp b/intern/audaspace/FX/AUD_LimiterReader.cpp new file mode 100644 index 00000000000..05882369001 --- /dev/null +++ b/intern/audaspace/FX/AUD_LimiterReader.cpp @@ -0,0 +1,95 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_LimiterReader.h" +#include "AUD_Buffer.h" + +#include <iostream> + +AUD_LimiterReader::AUD_LimiterReader(AUD_IReader* reader, + float start, float end) : + AUD_EffectReader(reader) +{ + m_end = (int)(end * reader->getSpecs().rate); + + if(start <= 0) + m_start = 0; + else + { + m_start = (int)(start * reader->getSpecs().rate); + if(m_reader->isSeekable()) + m_reader->seek(m_start); + else + { + // skip first m_start samples by reading them + int length; + sample_t* buffer; + for(int i = m_start; + i >= AUD_DEFAULT_BUFFER_SIZE; + i -= AUD_DEFAULT_BUFFER_SIZE) + { + length = AUD_DEFAULT_BUFFER_SIZE; + m_reader->read(length, buffer); + length = i; + } + m_reader->read(length, buffer); + } + } +} + +void AUD_LimiterReader::seek(int position) +{ + m_reader->seek(position + m_start); +} + +int AUD_LimiterReader::getLength() +{ + int len = m_reader->getLength(); + if(m_reader->getType() != AUD_TYPE_BUFFER || len < 0 || + (len > m_end && m_end >= 0)) + len = m_end; + return len - m_start; +} + +int AUD_LimiterReader::getPosition() +{ + return m_reader->getPosition() - m_start; +} + +void AUD_LimiterReader::read(int & length, sample_t* & buffer) +{ + if(m_end >= 0) + { + int position = m_reader->getPosition(); + if(position+length > m_end) + length = m_end - position; + if(length < 0) + { + length = 0; + return; + } + } + m_reader->read(length, buffer); +} diff --git a/intern/audaspace/FX/AUD_LimiterReader.h b/intern/audaspace/FX/AUD_LimiterReader.h new file mode 100644 index 00000000000..9921f5ee1b0 --- /dev/null +++ b/intern/audaspace/FX/AUD_LimiterReader.h @@ -0,0 +1,64 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_LIMITERREADER +#define AUD_LIMITERREADER + +#include "AUD_EffectReader.h" + +/** + * This reader limits another reader in start and end sample. + */ +class AUD_LimiterReader : public AUD_EffectReader +{ +private: + /** + * The start sample: inclusive. + */ + int m_start; + + /** + * The end sample: exlusive. + */ + int m_end; + +public: + /** + * Creates a new limiter reader. + * \param reader The reader to read from. + * \param start The desired start sample (inclusive). + * \param end The desired end sample (exklusive), a negative value signals + * that it should play to the end. + * \exception AUD_Exception Thrown if the reader specified is NULL. + */ + AUD_LimiterReader(AUD_IReader* reader, float start = 0, float end = -1); + + virtual void seek(int position); + virtual int getLength(); + virtual int getPosition(); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_LIMITERREADER diff --git a/intern/audaspace/FX/AUD_LoopFactory.cpp b/intern/audaspace/FX/AUD_LoopFactory.cpp new file mode 100644 index 00000000000..90186f623ff --- /dev/null +++ b/intern/audaspace/FX/AUD_LoopFactory.cpp @@ -0,0 +1,57 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_LoopFactory.h" +#include "AUD_LoopReader.h" + +AUD_LoopFactory::AUD_LoopFactory(AUD_IFactory* factory, int loop) : + AUD_EffectFactory(factory), + m_loop(loop) {} + +AUD_LoopFactory::AUD_LoopFactory(int loop) : + AUD_EffectFactory(0), + m_loop(loop) {} + +int AUD_LoopFactory::getLoop() +{ + return m_loop; +} + +void AUD_LoopFactory::setLoop(int loop) +{ + m_loop = loop; +} + +AUD_IReader* AUD_LoopFactory::createReader() +{ + AUD_IReader* reader = getReader(); + + if(reader != 0) + { + reader = new AUD_LoopReader(reader, m_loop); AUD_NEW("reader") + } + + return reader; +} diff --git a/intern/audaspace/FX/AUD_LoopFactory.h b/intern/audaspace/FX/AUD_LoopFactory.h new file mode 100644 index 00000000000..461d8c9ab69 --- /dev/null +++ b/intern/audaspace/FX/AUD_LoopFactory.h @@ -0,0 +1,74 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_LOOPFACTORY +#define AUD_LOOPFACTORY + +#include "AUD_EffectFactory.h" + +/** + * This factory loops another factory. + * \note The reader has to be seekable. + */ +class AUD_LoopFactory : public AUD_EffectFactory +{ +private: + /** + * The loop count. + */ + float m_loop; + +public: + /** + * Creates a new loop factory. + * \param factory The input factory. + * \param loop The desired loop count, negative values result in endless + * looping. + */ + AUD_LoopFactory(AUD_IFactory* factory = 0, int loop = -1); + + /** + * Creates a new loop factory. + * \param loop The desired loop count, negative values result in endless + * looping. + */ + AUD_LoopFactory(int loop); + + /** + * Returns the loop count. + */ + int getLoop(); + + /** + * Sets the loop count. + * \param loop The desired loop count, negative values result in endless + * looping. + */ + void setLoop(int loop); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_LOOPFACTORY diff --git a/intern/audaspace/FX/AUD_LoopReader.cpp b/intern/audaspace/FX/AUD_LoopReader.cpp new file mode 100644 index 00000000000..9e270321013 --- /dev/null +++ b/intern/audaspace/FX/AUD_LoopReader.cpp @@ -0,0 +1,107 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_LoopReader.h" +#include "AUD_Buffer.h" + +#include <cstring> +#include <stdio.h> + +AUD_LoopReader::AUD_LoopReader(AUD_IReader* reader, int loop) : + AUD_EffectReader(reader), m_loop(loop) +{ + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") +} + +AUD_LoopReader::~AUD_LoopReader() +{ + delete m_buffer; AUD_DELETE("buffer") +} + +AUD_ReaderType AUD_LoopReader::getType() +{ + if(m_loop < 0) + return AUD_TYPE_STREAM; + return m_reader->getType(); +} + +bool AUD_LoopReader::notify(AUD_Message &message) +{ + if(message.type == AUD_MSG_LOOP) + { + m_loop = message.loopcount; + + m_reader->notify(message); + + return true; + } + return m_reader->notify(message); +} + +void AUD_LoopReader::read(int & length, sample_t* & buffer) +{ + int samplesize = AUD_SAMPLE_SIZE(m_reader->getSpecs()); + + int len = length; + + m_reader->read(len, buffer); + + if(len < length && m_loop != 0) + { + int pos = 0; + + if(m_buffer->getSize() < length*samplesize) + m_buffer->resize(length*samplesize); + + memcpy(m_buffer->getBuffer() + pos * samplesize, + buffer, len * samplesize); + + pos += len; + + while(pos < length && m_loop != 0) + { + if(m_loop > 0) + m_loop--; + + m_reader->seek(0); + + len = length - pos; + m_reader->read(len, buffer); + // prevent endless loop + if(!len) + break; + + memcpy(m_buffer->getBuffer() + pos * samplesize, + buffer, len * samplesize); + + pos += len; + } + + length = pos; + buffer = m_buffer->getBuffer(); + } + else + length = len; +} diff --git a/intern/audaspace/FX/AUD_LoopReader.h b/intern/audaspace/FX/AUD_LoopReader.h new file mode 100644 index 00000000000..621ee3493ab --- /dev/null +++ b/intern/audaspace/FX/AUD_LoopReader.h @@ -0,0 +1,69 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_LOOPREADER +#define AUD_LOOPREADER + +#include "AUD_EffectReader.h" +class AUD_Buffer; + +/** + * This class reads another reader and loops it. + * \note The other reader must be seekable. + */ +class AUD_LoopReader : public AUD_EffectReader +{ +private: + /** + * The playback buffer. + */ + AUD_Buffer *m_buffer; + + /** + * The left loop count. + */ + int m_loop; + +public: + /** + * Creates a new loop reader. + * \param reader The reader to read from. + * \param loop The desired loop count, negative values result in endless + * looping. + * \exception AUD_Exception Thrown if the reader specified is NULL. + */ + AUD_LoopReader(AUD_IReader* reader, int loop); + + /** + * Destroys the reader. + */ + virtual ~AUD_LoopReader(); + + virtual AUD_ReaderType getType(); + virtual bool notify(AUD_Message &message); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_LOOPREADER diff --git a/intern/audaspace/FX/AUD_PingPongFactory.cpp b/intern/audaspace/FX/AUD_PingPongFactory.cpp new file mode 100644 index 00000000000..8b72afe05e7 --- /dev/null +++ b/intern/audaspace/FX/AUD_PingPongFactory.cpp @@ -0,0 +1,67 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_PingPongFactory.h" +#include "AUD_DoubleReader.h" +#include "AUD_ReverseFactory.h" + +AUD_PingPongFactory::AUD_PingPongFactory(AUD_IFactory* factory) : + AUD_EffectFactory(factory) {} + +AUD_IReader* AUD_PingPongFactory::createReader() +{ + if(m_factory == 0) + return 0; + + AUD_IReader* reader = m_factory->createReader(); + + if(reader != 0) + { + AUD_IReader* reader2; + AUD_ReverseFactory factory(m_factory); + + try + { + reader2 = factory.createReader(); + } + catch(AUD_Exception) + { + reader2 = 0; + } + + if(reader2 != 0) + { + reader = new AUD_DoubleReader(reader, reader2); + AUD_NEW("reader") + } + else + { + delete reader; AUD_DELETE("reader") + reader = 0; + } + } + + return reader; +} diff --git a/intern/audaspace/FX/AUD_PingPongFactory.h b/intern/audaspace/FX/AUD_PingPongFactory.h new file mode 100644 index 00000000000..b8854da550a --- /dev/null +++ b/intern/audaspace/FX/AUD_PingPongFactory.h @@ -0,0 +1,51 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_PINGPONGFACTORY +#define AUD_PINGPONGFACTORY + +#include "AUD_EffectFactory.h" + +/** + * This factory plays another factory first normal, then reversed. + * \note Readers from the underlying factory must be from the buffer type. + */ +class AUD_PingPongFactory : public AUD_EffectFactory +{ +public: + /** + * Creates a new ping pong factory. + * \param factory The input factory. + */ + AUD_PingPongFactory(AUD_IFactory* factory = 0); + + /** + * Destroys the factory. + */ + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_PINGPONGFACTORY diff --git a/intern/audaspace/FX/AUD_PitchFactory.cpp b/intern/audaspace/FX/AUD_PitchFactory.cpp new file mode 100644 index 00000000000..5f814283c12 --- /dev/null +++ b/intern/audaspace/FX/AUD_PitchFactory.cpp @@ -0,0 +1,48 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_PitchFactory.h" +#include "AUD_PitchReader.h" +#include "AUD_Space.h" + +AUD_PitchFactory::AUD_PitchFactory(AUD_IFactory* factory, float pitch) : + AUD_EffectFactory(factory), + m_pitch(pitch) {} + +AUD_PitchFactory::AUD_PitchFactory(float pitch) : + AUD_EffectFactory(0), + m_pitch(pitch) {} + +AUD_IReader* AUD_PitchFactory::createReader() +{ + AUD_IReader* reader = getReader(); + + if(reader != 0) + { + reader = new AUD_PitchReader(reader, m_pitch); AUD_NEW("reader") + } + + return reader; +} diff --git a/intern/audaspace/FX/AUD_PitchFactory.h b/intern/audaspace/FX/AUD_PitchFactory.h new file mode 100644 index 00000000000..3209aa46983 --- /dev/null +++ b/intern/audaspace/FX/AUD_PitchFactory.h @@ -0,0 +1,70 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_PITCHFACTORY +#define AUD_PITCHFACTORY + +#include "AUD_EffectFactory.h" + +/** + * This factory changes the pitch of another factory. + */ +class AUD_PitchFactory : public AUD_EffectFactory +{ +private: + /** + * The pitch. + */ + float m_pitch; + +public: + /** + * Creates a new pitch factory. + * \param factory The input factory. + * \param pitch The desired pitch. + */ + AUD_PitchFactory(AUD_IFactory* factory = 0, float pitch = 1.0); + + /** + * Creates a new pitch factory. + * \param pitch The desired pitch. + */ + AUD_PitchFactory(float pitch); + + /** + * Returns the pitch. + */ + float getPitch(); + + /** + * Sets the pitch. + * \param pitch The new pitch value. Should be between 0.0 and 1.0. + */ + void setPitch(float pitch); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_PITCHFACTORY diff --git a/intern/audaspace/FX/AUD_PitchReader.cpp b/intern/audaspace/FX/AUD_PitchReader.cpp new file mode 100644 index 00000000000..c53264e1350 --- /dev/null +++ b/intern/audaspace/FX/AUD_PitchReader.cpp @@ -0,0 +1,39 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_PitchReader.h" + +AUD_PitchReader::AUD_PitchReader(AUD_IReader* reader, float pitch) : + AUD_EffectReader(reader) +{ + m_pitch = pitch; +} + +AUD_Specs AUD_PitchReader::getSpecs() +{ + AUD_Specs specs = m_reader->getSpecs(); + specs.rate = (AUD_SampleRate)((int)(specs.rate * m_pitch)); + return specs; +} diff --git a/intern/audaspace/FX/AUD_PitchReader.h b/intern/audaspace/FX/AUD_PitchReader.h new file mode 100644 index 00000000000..440e9cc843c --- /dev/null +++ b/intern/audaspace/FX/AUD_PitchReader.h @@ -0,0 +1,54 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_PITCHREADER +#define AUD_PITCHREADER + +#include "AUD_EffectReader.h" + +/** + * This class reads another reader and changes it's pitch. + */ +class AUD_PitchReader : public AUD_EffectReader +{ +private: + /** + * The pitch level. + */ + float m_pitch; + +public: + /** + * Creates a new pitch reader. + * \param reader The reader to read from. + * \param pitch The size of the buffer. + * \exception AUD_Exception Thrown if the reader specified is NULL. + */ + AUD_PitchReader(AUD_IReader* reader, float pitch); + + virtual AUD_Specs getSpecs(); +}; + +#endif //AUD_PITCHREADER diff --git a/intern/audaspace/FX/AUD_ReverseFactory.cpp b/intern/audaspace/FX/AUD_ReverseFactory.cpp new file mode 100644 index 00000000000..1242641c350 --- /dev/null +++ b/intern/audaspace/FX/AUD_ReverseFactory.cpp @@ -0,0 +1,43 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_ReverseFactory.h" +#include "AUD_ReverseReader.h" +#include "AUD_Space.h" + +AUD_ReverseFactory::AUD_ReverseFactory(AUD_IFactory* factory) : + AUD_EffectFactory(factory) {} + +AUD_IReader* AUD_ReverseFactory::createReader() +{ + AUD_IReader* reader = getReader(); + + if(reader != 0) + { + reader = new AUD_ReverseReader(reader); AUD_NEW("reader") + } + + return reader; +} diff --git a/intern/audaspace/FX/AUD_ReverseFactory.h b/intern/audaspace/FX/AUD_ReverseFactory.h new file mode 100644 index 00000000000..4b664c47281 --- /dev/null +++ b/intern/audaspace/FX/AUD_ReverseFactory.h @@ -0,0 +1,50 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_REVERSEFACTORY +#define AUD_REVERSEFACTORY + +#include "AUD_EffectFactory.h" + +/** + * This factory reads another factory reverted. + * \note Readers from the underlying factory must be from the buffer type. + */ +class AUD_ReverseFactory : public AUD_EffectFactory +{ +public: + /** + * Creates a new reverse factory. + * \param factory The input factory. + */ + AUD_ReverseFactory(AUD_IFactory* factory = 0); + + /** + * Destroys the factory. + */ + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_REVERSEFACTORY diff --git a/intern/audaspace/FX/AUD_ReverseReader.cpp b/intern/audaspace/FX/AUD_ReverseReader.cpp new file mode 100644 index 00000000000..043480b91b9 --- /dev/null +++ b/intern/audaspace/FX/AUD_ReverseReader.cpp @@ -0,0 +1,111 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_ReverseReader.h" +#include "AUD_Buffer.h" + +#include <cstring> + +AUD_ReverseReader::AUD_ReverseReader(AUD_IReader* reader) : + AUD_EffectReader(reader) +{ + if(reader->getType() != AUD_TYPE_BUFFER) + AUD_THROW(AUD_ERROR_READER); + + m_length = reader->getLength(); + if(m_length < 0) + AUD_THROW(AUD_ERROR_READER); + + m_position = 0; + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") +} + +AUD_ReverseReader::~AUD_ReverseReader() +{ + delete m_buffer; AUD_DELETE("buffer") +} + +void AUD_ReverseReader::seek(int position) +{ + m_position = position; +} + +int AUD_ReverseReader::getLength() +{ + return m_length; +} + +int AUD_ReverseReader::getPosition() +{ + return m_position; +} + +void AUD_ReverseReader::read(int & length, sample_t* & buffer) +{ + // first correct the length + if(m_position+length > m_length) + length = m_length-m_position; + + if(length <= 0) + { + length = 0; + return; + } + + int samplesize = AUD_SAMPLE_SIZE(getSpecs()); + + // resize buffer if needed + if(m_buffer->getSize() < length * samplesize) + m_buffer->resize(length * samplesize); + + buffer = m_buffer->getBuffer(); + + sample_t* buf; + int len = length; + + // read from reader + m_reader->seek(m_length-m_position-len); + m_reader->read(len, buf); + + // set null if reader didn't give enough data + if(len < length) + { + if(getSpecs().format == AUD_FORMAT_U8) + memset(buffer, 0x80, (length-len)*samplesize); + else + memset(buffer, 0, (length-len)*samplesize); + buffer += length-len; + } + + // copy the samples reverted + for(int i = 0; i < len; i++) + memcpy(buffer + i * samplesize, + buf + (len - 1 - i) * samplesize, + samplesize); + + m_position += length; + + buffer = m_buffer->getBuffer(); +} diff --git a/intern/audaspace/FX/AUD_ReverseReader.h b/intern/audaspace/FX/AUD_ReverseReader.h new file mode 100644 index 00000000000..045d2ac5a8e --- /dev/null +++ b/intern/audaspace/FX/AUD_ReverseReader.h @@ -0,0 +1,74 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_REVERSEREADER +#define AUD_REVERSEREADER + +#include "AUD_EffectReader.h" +class AUD_Buffer; + +/** + * This class reads another reader from back to front. + * \note The underlying reader must be a buffer. + */ +class AUD_ReverseReader : public AUD_EffectReader +{ +private: + /** + * The current position. + */ + int m_position; + + /** + * The sample count. + */ + int m_length; + + /** + * The playback buffer. + */ + AUD_Buffer* m_buffer; + +public: + /** + * Creates a new reverse reader. + * \param reader The reader to read from. + * \exception AUD_Exception Thrown if the reader specified is NULL or not + * a buffer. + */ + AUD_ReverseReader(AUD_IReader* reader); + + /** + * Destroys the reader. + */ + virtual ~AUD_ReverseReader(); + + virtual void seek(int position); + virtual int getLength(); + virtual int getPosition(); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_REVERSEREADER diff --git a/intern/audaspace/FX/AUD_VolumeFactory.cpp b/intern/audaspace/FX/AUD_VolumeFactory.cpp new file mode 100644 index 00000000000..fbde608aa12 --- /dev/null +++ b/intern/audaspace/FX/AUD_VolumeFactory.cpp @@ -0,0 +1,57 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_VolumeFactory.h" +#include "AUD_VolumeReader.h" + +AUD_VolumeFactory::AUD_VolumeFactory(AUD_IFactory* factory, float volume) : + AUD_EffectFactory(factory), + m_volume(volume) {} + +AUD_VolumeFactory::AUD_VolumeFactory(float volume) : + AUD_EffectFactory(0), + m_volume(volume) {} + +float AUD_VolumeFactory::getVolume() +{ + return m_volume; +} + +void AUD_VolumeFactory::setVolume(float volume) +{ + m_volume = volume; +} + +AUD_IReader* AUD_VolumeFactory::createReader() +{ + AUD_IReader* reader = getReader(); + + if(reader != 0) + { + reader = new AUD_VolumeReader(reader, m_volume); AUD_NEW("reader") + } + + return reader; +} diff --git a/intern/audaspace/FX/AUD_VolumeFactory.h b/intern/audaspace/FX/AUD_VolumeFactory.h new file mode 100644 index 00000000000..d2812536d83 --- /dev/null +++ b/intern/audaspace/FX/AUD_VolumeFactory.h @@ -0,0 +1,72 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_VOLUMEFACTORY +#define AUD_VOLUMEFACTORY + +#include "AUD_EffectFactory.h" + +/** + * This factory changes the volume of another factory. + * The set volume should be a value between 0.0 and 1.0, higher values at your + * own risk! + */ +class AUD_VolumeFactory : public AUD_EffectFactory +{ +private: + /** + * The volume. + */ + float m_volume; + +public: + /** + * Creates a new volume factory. + * \param factory The input factory. + * \param volume The desired volume. + */ + AUD_VolumeFactory(AUD_IFactory* factory = 0, float volume = 1.0); + + /** + * Creates a new volume factory. + * \param volume The desired volume. + */ + AUD_VolumeFactory(float volume); + + /** + * Returns the volume. + */ + float getVolume(); + + /** + * Sets the volume. + * \param volume The new volume value. Should be between 0.0 and 1.0. + */ + void setVolume(float volume); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_VOLUMEFACTORY diff --git a/intern/audaspace/FX/AUD_VolumeReader.cpp b/intern/audaspace/FX/AUD_VolumeReader.cpp new file mode 100644 index 00000000000..fc3f20152a6 --- /dev/null +++ b/intern/audaspace/FX/AUD_VolumeReader.cpp @@ -0,0 +1,97 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_VolumeReader.h" +#include "AUD_Buffer.h" + +#include <cstring> + +AUD_VolumeReader::AUD_VolumeReader(AUD_IReader* reader, float volume) : + AUD_EffectReader(reader), + m_volume(volume) +{ + int bigendian = 1; + bigendian = (((char*)&bigendian)[0]) ? 0: 1; // 1 if Big Endian + + switch(m_reader->getSpecs().format) + { + case AUD_FORMAT_S16: + m_adjust = AUD_volume_adjust<int16_t>; + break; + case AUD_FORMAT_S32: + m_adjust = AUD_volume_adjust<int32_t>; + break; + case AUD_FORMAT_FLOAT32: + m_adjust = AUD_volume_adjust<float>; + break; + case AUD_FORMAT_FLOAT64: + m_adjust = AUD_volume_adjust<double>; + break; + case AUD_FORMAT_U8: + m_adjust = AUD_volume_adjust_u8; + break; + case AUD_FORMAT_S24: + m_adjust = bigendian ? AUD_volume_adjust_s24_be : + AUD_volume_adjust_s24_le; + break; + default: + delete m_reader; + AUD_THROW(AUD_ERROR_READER); + } + + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") +} + +AUD_VolumeReader::~AUD_VolumeReader() +{ + delete m_buffer; AUD_DELETE("buffer") +} + +bool AUD_VolumeReader::notify(AUD_Message &message) +{ + if(message.type == AUD_MSG_VOLUME) + { + m_volume = message.volume; + + m_reader->notify(message); + + return true; + } + return m_reader->notify(message); +} + +void AUD_VolumeReader::read(int & length, sample_t* & buffer) +{ + sample_t* buf; + AUD_Specs specs = m_reader->getSpecs(); + + m_reader->read(length, buf); + if(m_buffer->getSize() < length*AUD_SAMPLE_SIZE(specs)) + m_buffer->resize(length*AUD_SAMPLE_SIZE(specs)); + + buffer = m_buffer->getBuffer(); + + m_adjust(buffer, buf, length * specs.channels, m_volume); +} diff --git a/intern/audaspace/FX/AUD_VolumeReader.h b/intern/audaspace/FX/AUD_VolumeReader.h new file mode 100644 index 00000000000..f38ae4d265c --- /dev/null +++ b/intern/audaspace/FX/AUD_VolumeReader.h @@ -0,0 +1,72 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_VOLUMEREADER +#define AUD_VOLUMEREADER + +#include "AUD_EffectReader.h" +#include "AUD_ConverterFunctions.h" +class AUD_Buffer; + +/** + * This class reads another reader and changes it's volume. + */ +class AUD_VolumeReader : public AUD_EffectReader +{ +private: + /** + * The playback buffer. + */ + AUD_Buffer *m_buffer; + + /** + * The volume level. + */ + float m_volume; + + /** + * Volume adjustment function. + */ + AUD_volume_adjust_f m_adjust; + +public: + /** + * Creates a new volume reader. + * \param reader The reader to read from. + * \param volume The size of the buffer. + * \exception AUD_Exception Thrown if the reader specified is NULL. + */ + AUD_VolumeReader(AUD_IReader* reader, float volume); + + /** + * Destroys the reader. + */ + virtual ~AUD_VolumeReader(); + + virtual bool notify(AUD_Message &message); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_VOLUMEREADER diff --git a/intern/SoundSystem/dummy/Makefile b/intern/audaspace/FX/Makefile index 829135dde98..bda0e2bdab6 100644 --- a/intern/SoundSystem/dummy/Makefile +++ b/intern/audaspace/FX/Makefile @@ -28,15 +28,16 @@ # # -LIBNAME = DummySoundSystem -DIR = $(OCGDIR)/intern/$(LIBNAME) +LIBNAME = aud_fx +DIR = $(OCGDIR)/intern/audaspace include nan_compile.mk CCFLAGS += $(LEVEL_1_CPP_WARNINGS) -CPPFLAGS += -I$(NAN_STRING)/include -CPPFLAGS += -I$(NAN_MOTO)/include +CPPFLAGS += -I../ffmpeg CPPFLAGS += -I../intern +CPPFLAGS += -I../SDL +CPPFLAGS += -I../SRC CPPFLAGS += -I.. CPPFLAGS += -I. diff --git a/intern/audaspace/Makefile b/intern/audaspace/Makefile new file mode 100644 index 00000000000..474f53f0e0f --- /dev/null +++ b/intern/audaspace/Makefile @@ -0,0 +1,106 @@ +# -*- mode: gnumakefile; tab-width: 8; indent-tabs-mode: t; -*- +# vim: tabstop=8 +# +# $Id$ +# +# ***** BEGIN GPL LICENSE BLOCK ***** +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 +# of the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software Foundation, +# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. +# All rights reserved. +# +# The Original Code is: all of this file. +# +# Contributor(s): GSR +# +# ***** END GPL LICENSE BLOCK ***** +# +# + +include nan_definitions.mk + +LIBNAME = audaspace +SOURCEDIR = intern/audaspace +DIR = $(OCGDIR)/$(SOURCEDIR) +DIRS = intern +DIRS += FX +DIRS += SDL +DIRS += SRC + +ifeq ($(WITH_FFMPEG),true) + DIRS += ffmpeg +endif + +ifeq ($(WITH_OPENAL),true) + DIRS += OpenAL +endif + +ifeq ($(WITH_JACK),true) + DIRS += jack +endif + +ifeq ($(WITH_SNDFILE),true) + DIRS += sndfile +endif + +include nan_subdirs.mk + +install: $(ALL_OR_DEBUG) + @[ -d $(NAN_AUDASPACE) ] || mkdir $(NAN_AUDASPACE) + @[ -d $(NAN_AUDASPACE)/include ] || mkdir $(NAN_AUDASPACE)/include + @[ -d $(NAN_AUDASPACE)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_AUDASPACE)/lib/$(DEBUG_DIR) + @../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libaudaspace.a $(DIR)/$(DEBUG_DIR)libaud_sdl.a $(DIR)/$(DEBUG_DIR)libaud_fx.a $(DIR)/$(DEBUG_DIR)libaud_src.a $(NAN_AUDASPACE)/lib/$(DEBUG_DIR) + +ifeq ($(WITH_FFMPEG),true) + @../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libaud_ffmpeg.a $(NAN_AUDASPACE)/lib/$(DEBUG_DIR) +endif + +ifeq ($(WITH_OPENAL),true) + @../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libaud_openal.a $(NAN_AUDASPACE)/lib/$(DEBUG_DIR) +endif + +ifeq ($(WITH_JACK),true) + @../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libaud_jack.a $(NAN_AUDASPACE)/lib/$(DEBUG_DIR) +endif + +ifeq ($(WITH_SNDFILE),true) + @../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libaud_sndfile.a $(NAN_AUDASPACE)/lib/$(DEBUG_DIR) +endif + +ifeq ($(OS),darwin) + ranlib $(NAN_AUDASPACE)/lib/$(DEBUG_DIR)libaudaspace.a + ranlib $(NAN_AUDASPACE)/lib/$(DEBUG_DIR)libaud_src.a + ranlib $(NAN_AUDASPACE)/lib/$(DEBUG_DIR)libaud_fx.a + ranlib $(NAN_AUDASPACE)/lib/$(DEBUG_DIR)libaud_sdl.a + +ifeq ($(WITH_FFMPEG),true) + ranlib $(NAN_AUDASPACE)/lib/$(DEBUG_DIR)libaud_ffmpeg.a +endif + +ifeq ($(WITH_OPENAL),true) + ranlib $(NAN_AUDASPACE)/lib/$(DEBUG_DIR)libaud_openal.a +endif + +ifeq ($(WITH_JACK),true) + ranlib $(NAN_AUDASPACE)/lib/$(DEBUG_DIR)libaud_jack.a +endif + +ifeq ($(WITH_SNDFILE),true) + ranlib $(NAN_AUDASPACE)/lib/$(DEBUG_DIR)libaud_sndfile.a +endif + +endif + @../tools/cpifdiff.sh intern/*.h $(NAN_AUDASPACE)/include/ diff --git a/intern/audaspace/OpenAL/AUD_OpenALDevice.cpp b/intern/audaspace/OpenAL/AUD_OpenALDevice.cpp new file mode 100644 index 00000000000..b33afa2b955 --- /dev/null +++ b/intern/audaspace/OpenAL/AUD_OpenALDevice.cpp @@ -0,0 +1,1362 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_OpenALDevice.h" +#include "AUD_IReader.h" +#include "AUD_IMixer.h" +#include "AUD_ConverterFactory.h" +#include "AUD_SourceCaps.h" + +#include <cstring> +#include <limits> + +#ifdef WIN32 +#include <windows.h> +#else +#include <unistd.h> +#endif + +#define AUD_OPENAL_CYCLE_BUFFERS 3 + +/// Saves the data for playback. +struct AUD_OpenALHandle : AUD_Handle +{ + /// Whether it's a buffered or a streamed source. + bool isBuffered; + + /// The reader source. + AUD_IReader* reader; + + /// Whether to keep the source if end of it is reached. + bool keep; + + /// OpenAL sample format. + ALenum format; + + /// OpenAL source. + ALuint source; + + /// OpenAL buffers. + ALuint buffers[AUD_OPENAL_CYCLE_BUFFERS]; + + /// The first buffer to be read next. + int current; + + /// Whether the stream doesn't return any more data. + bool data_end; +}; + +struct AUD_OpenALBufferedFactory +{ + /// The factory. + AUD_IFactory* factory; + + /// The OpenAL buffer. + ALuint buffer; +}; + +typedef std::list<AUD_OpenALHandle*>::iterator AUD_HandleIterator; +typedef std::list<AUD_OpenALBufferedFactory*>::iterator AUD_BFIterator; + +/******************************************************************************/ +/**************************** Threading Code **********************************/ +/******************************************************************************/ + +void* AUD_openalRunThread(void* device) +{ + AUD_OpenALDevice* dev = (AUD_OpenALDevice*)device; + dev->updateStreams(); + return NULL; +} + +void AUD_OpenALDevice::start() +{ + lock(); + + if(!m_playing) + { + pthread_attr_t attr; + pthread_attr_init(&attr); + pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE); + + pthread_create(&m_thread, &attr, AUD_openalRunThread, this); + + pthread_attr_destroy(&attr); + + m_playing = true; + } + + unlock(); +} + +void AUD_OpenALDevice::updateStreams() +{ + AUD_OpenALHandle* sound; + + int length; + sample_t* buffer; + + ALint info; + AUD_Specs specs; + + while(1) + { + lock(); + + alcSuspendContext(m_context); + + // for all sounds + AUD_HandleIterator it = m_playingSounds->begin(); + while(it != m_playingSounds->end()) + { + sound = *it; + // increment the iterator to make sure it's valid, + // in case the sound gets deleted after stopping + ++it; + + // is it a streamed sound? + if(!sound->isBuffered) + { + // check for buffer refilling + alGetSourcei(sound->source, AL_BUFFERS_PROCESSED, &info); + + if(info) + { + specs = sound->reader->getSpecs(); + + // for all empty buffers + while(info--) + { + // if there's still data to play back + if(!sound->data_end) + { + // read data + length = m_buffersize; + sound->reader->read(length, buffer); + + // read nothing? + if(length == 0) + { + sound->data_end = true; + break; + } + + // unqueue buffer + alSourceUnqueueBuffers(sound->source, 1, + &sound->buffers[sound->current]); + ALenum err; + if((err = alGetError()) != AL_NO_ERROR) + { + sound->data_end = true; + break; + } + + // fill with new data + alBufferData(sound->buffers[sound->current], + sound->format, + buffer, + length * AUD_SAMPLE_SIZE(specs), + specs.rate); + + if(alGetError() != AL_NO_ERROR) + { + sound->data_end = true; + break; + } + + // and queue again + alSourceQueueBuffers(sound->source, 1, + &sound->buffers[sound->current]); + if(alGetError() != AL_NO_ERROR) + { + sound->data_end = true; + break; + } + + sound->current = (sound->current+1) % + AUD_OPENAL_CYCLE_BUFFERS; + } + else + break; + } + } + } + + // check if the sound has been stopped + alGetSourcei(sound->source, AL_SOURCE_STATE, &info); + + if(info != AL_PLAYING) + { + // if it really stopped + if(sound->data_end) + { + // pause or + if(sound->keep) + pause(sound); + // stop + else + stop(sound); + } + // continue playing + else + alSourcePlay(sound->source); + } + } + + alcProcessContext(m_context); + + // stop thread + if(m_playingSounds->empty()) + { + unlock(); + m_playing = false; + pthread_exit(NULL); + } + + unlock(); + +#ifdef WIN32 + Sleep(20); +#else + usleep(20000); +#endif + } +} + +/******************************************************************************/ +/**************************** IDevice Code ************************************/ +/******************************************************************************/ + +bool AUD_OpenALDevice::isValid(AUD_Handle* handle) +{ + for(AUD_HandleIterator i = m_playingSounds->begin(); + i != m_playingSounds->end(); i++) + if(*i == handle) + return true; + for(AUD_HandleIterator i = m_pausedSounds->begin(); + i != m_pausedSounds->end(); i++) + if(*i == handle) + return true; + return false; +} + +AUD_OpenALDevice::AUD_OpenALDevice(AUD_Specs specs, int buffersize) +{ + // cannot determine how many channels or which format OpenAL uses, but + // it at least is able to play 16 bit stereo audio + specs.channels = AUD_CHANNELS_STEREO; + specs.format = AUD_FORMAT_S16; + + m_device = alcOpenDevice(NULL); + + if(!m_device) + AUD_THROW(AUD_ERROR_OPENAL); + + // at least try to set the frequency + ALCint attribs[] = { ALC_FREQUENCY, specs.rate, 0 }; + ALCint* attributes = attribs; + if(specs.rate == AUD_RATE_INVALID) + attributes = NULL; + + m_context = alcCreateContext(m_device, attributes); + alcMakeContextCurrent(m_context); + + alcGetIntegerv(m_device, ALC_FREQUENCY, 1, (ALCint*)&specs.rate); + + // check for specific formats and channel counts to be played back + if(alIsExtensionPresent("AL_EXT_FLOAT32") == AL_TRUE) + specs.format = AUD_FORMAT_FLOAT32; + + m_useMC = alIsExtensionPresent("AL_EXT_MCFORMATS") == AL_TRUE; + + alGetError(); + + m_converter = new AUD_ConverterFactory(specs); AUD_NEW("factory") + + m_specs = specs; + m_buffersize = buffersize; + m_playing = false; + + m_playingSounds = new std::list<AUD_OpenALHandle*>(); AUD_NEW("list") + m_pausedSounds = new std::list<AUD_OpenALHandle*>(); AUD_NEW("list") + m_bufferedFactories = new std::list<AUD_OpenALBufferedFactory*>(); + AUD_NEW("list") + + pthread_mutexattr_t attr; + pthread_mutexattr_init(&attr); + pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE); + + pthread_mutex_init(&m_mutex, &attr); + + pthread_mutexattr_destroy(&attr); +} + +AUD_OpenALDevice::~AUD_OpenALDevice() +{ + AUD_OpenALHandle* sound; + + lock(); + alcSuspendContext(m_context); + + // delete all playing sounds + while(!m_playingSounds->empty()) + { + sound = *(m_playingSounds->begin()); + alDeleteSources(1, &sound->source); + if(!sound->isBuffered) + { + delete sound->reader; AUD_DELETE("reader") + alDeleteBuffers(AUD_OPENAL_CYCLE_BUFFERS, sound->buffers); + } + delete sound; AUD_DELETE("handle") + m_playingSounds->erase(m_playingSounds->begin()); + } + + // delete all paused sounds + while(!m_pausedSounds->empty()) + { + sound = *(m_pausedSounds->begin()); + alDeleteSources(1, &sound->source); + if(!sound->isBuffered) + { + delete sound->reader; AUD_DELETE("reader") + alDeleteBuffers(AUD_OPENAL_CYCLE_BUFFERS, sound->buffers); + } + delete sound; AUD_DELETE("handle") + m_pausedSounds->erase(m_pausedSounds->begin()); + } + + // delete all buffered factories + while(!m_bufferedFactories->empty()) + { + alDeleteBuffers(1, &(*(m_bufferedFactories->begin()))->buffer); + delete *m_bufferedFactories->begin(); AUD_DELETE("bufferedfactory"); + m_bufferedFactories->erase(m_bufferedFactories->begin()); + } + + alcProcessContext(m_context); + + // wait for the thread to stop + if(m_playing) + { + unlock(); + pthread_join(m_thread, NULL); + } + else + unlock(); + + delete m_playingSounds; AUD_DELETE("list") + delete m_pausedSounds; AUD_DELETE("list") + delete m_bufferedFactories; AUD_DELETE("list") + + // quit OpenAL + alcMakeContextCurrent(NULL); + alcDestroyContext(m_context); + alcCloseDevice(m_device); + + delete m_converter; AUD_DELETE("factory") + + pthread_mutex_destroy(&m_mutex); +} + +AUD_Specs AUD_OpenALDevice::getSpecs() +{ + return m_specs; +} + +bool AUD_OpenALDevice::getFormat(ALenum &format, AUD_Specs specs) +{ + bool valid = true; + format = 0; + + switch(specs.format) + { + case AUD_FORMAT_U8: + switch(specs.channels) + { + case AUD_CHANNELS_MONO: + format = AL_FORMAT_MONO8; + break; + case AUD_CHANNELS_STEREO: + format = AL_FORMAT_STEREO8; + break; + case AUD_CHANNELS_SURROUND4: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_QUAD8"); + break; + } + case AUD_CHANNELS_SURROUND51: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_51CHN8"); + break; + } + case AUD_CHANNELS_SURROUND61: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_61CHN8"); + break; + } + case AUD_CHANNELS_SURROUND71: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_71CHN8"); + break; + } + default: + valid = false; + } + break; + case AUD_FORMAT_S16: + switch(specs.channels) + { + case AUD_CHANNELS_MONO: + format = AL_FORMAT_MONO16; + break; + case AUD_CHANNELS_STEREO: + format = AL_FORMAT_STEREO16; + break; + case AUD_CHANNELS_SURROUND4: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_QUAD16"); + break; + } + case AUD_CHANNELS_SURROUND51: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_51CHN16"); + break; + } + case AUD_CHANNELS_SURROUND61: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_61CHN16"); + break; + } + case AUD_CHANNELS_SURROUND71: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_71CHN16"); + break; + } + default: + valid = false; + } + break; + case AUD_FORMAT_FLOAT32: + switch(specs.channels) + { + case AUD_CHANNELS_MONO: + format = alGetEnumValue("AL_FORMAT_MONO_FLOAT32"); + break; + case AUD_CHANNELS_STEREO: + format = alGetEnumValue("AL_FORMAT_STEREO_FLOAT32"); + break; + case AUD_CHANNELS_SURROUND4: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_QUAD32"); + break; + } + case AUD_CHANNELS_SURROUND51: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_51CHN32"); + break; + } + case AUD_CHANNELS_SURROUND61: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_61CHN32"); + break; + } + case AUD_CHANNELS_SURROUND71: + if(m_useMC) + { + format = alGetEnumValue("AL_FORMAT_71CHN32"); + break; + } + default: + valid = false; + } + break; + default: + valid = false; + } + + if(!format) + valid = false; + + return valid; +} + +AUD_Handle* AUD_OpenALDevice::play(AUD_IFactory* factory, bool keep) +{ + // check if it is a buffered factory + for(AUD_BFIterator i = m_bufferedFactories->begin(); + i != m_bufferedFactories->end(); i++) + { + if((*i)->factory == factory) + { + // create the handle + AUD_OpenALHandle* sound = new AUD_OpenALHandle; AUD_NEW("handle") + sound->keep = keep; + sound->current = -1; + sound->isBuffered = true; + sound->data_end = true; + + alcSuspendContext(m_context); + + // OpenAL playback code + try + { + alGenSources(1, &sound->source); + if(alGetError() != AL_NO_ERROR) + AUD_THROW(AUD_ERROR_OPENAL); + + try + { + alSourcei(sound->source, AL_BUFFER, (*i)->buffer); + if(alGetError() != AL_NO_ERROR) + AUD_THROW(AUD_ERROR_OPENAL); + } + catch(AUD_Exception) + { + alDeleteSources(1, &sound->source); + throw; + } + } + catch(AUD_Exception) + { + delete sound; AUD_DELETE("handle") + alcProcessContext(m_context); + unlock(); + throw; + } + + // play sound + m_playingSounds->push_back(sound); + + alSourcei(sound->source, AL_SOURCE_RELATIVE, 1); + start(); + + alcProcessContext(m_context); + unlock(); + + return sound; + } + } + + AUD_IReader* reader = factory->createReader(); + + if(reader == NULL) + AUD_THROW(AUD_ERROR_READER); + + AUD_Specs specs; + + specs = reader->getSpecs(); + + // check format + bool valid = true; + + if(specs.format == AUD_FORMAT_INVALID) + valid = false; + else if(specs.format == AUD_FORMAT_S24 || + specs.format == AUD_FORMAT_S32 || + specs.format == AUD_FORMAT_FLOAT32 || + specs.format == AUD_FORMAT_FLOAT64) + { + m_converter->setReader(reader); + reader = m_converter->createReader(); + specs = reader->getSpecs(); + } + + // create the handle + AUD_OpenALHandle* sound = new AUD_OpenALHandle; AUD_NEW("handle") + sound->keep = keep; + sound->reader = reader; + sound->current = 0; + sound->isBuffered = false; + sound->data_end = false; + + valid &= getFormat(sound->format, specs); + + if(!valid) + { + delete sound; AUD_DELETE("handle") + delete reader; AUD_DELETE("reader") + return NULL; + } + + lock(); + alcSuspendContext(m_context); + + // OpenAL playback code + try + { + alGenBuffers(AUD_OPENAL_CYCLE_BUFFERS, sound->buffers); + if(alGetError() != AL_NO_ERROR) + AUD_THROW(AUD_ERROR_OPENAL); + + try + { + sample_t* buf; + int length; + + for(int i = 0; i < AUD_OPENAL_CYCLE_BUFFERS; i++) + { + length = m_buffersize; + reader->read(length, buf); + alBufferData(sound->buffers[i], sound->format, buf, + length * AUD_SAMPLE_SIZE(specs), specs.rate); + if(alGetError() != AL_NO_ERROR) + AUD_THROW(AUD_ERROR_OPENAL); + } + + alGenSources(1, &sound->source); + if(alGetError() != AL_NO_ERROR) + AUD_THROW(AUD_ERROR_OPENAL); + + try + { + alSourceQueueBuffers(sound->source, AUD_OPENAL_CYCLE_BUFFERS, + sound->buffers); + if(alGetError() != AL_NO_ERROR) + AUD_THROW(AUD_ERROR_OPENAL); + } + catch(AUD_Exception) + { + alDeleteSources(1, &sound->source); + throw; + } + } + catch(AUD_Exception) + { + alDeleteBuffers(AUD_OPENAL_CYCLE_BUFFERS, sound->buffers); + throw; + } + } + catch(AUD_Exception) + { + delete sound; AUD_DELETE("handle") + delete reader; AUD_DELETE("reader") + alcProcessContext(m_context); + unlock(); + throw; + } + + // play sound + m_playingSounds->push_back(sound); + alSourcei(sound->source, AL_SOURCE_RELATIVE, 1); + + start(); + + alcProcessContext(m_context); + unlock(); + + return sound; +} + +bool AUD_OpenALDevice::pause(AUD_Handle* handle) +{ + // only songs that are played can be paused + lock(); + for(AUD_HandleIterator i = m_playingSounds->begin(); + i != m_playingSounds->end(); i++) + { + if(*i == handle) + { + m_pausedSounds->push_back(*i); + alSourcePause((*i)->source); + m_playingSounds->erase(i); + unlock(); + return true; + } + } + unlock(); + return false; +} + +bool AUD_OpenALDevice::resume(AUD_Handle* handle) +{ + lock(); + + // only songs that are paused can be resumed + for(AUD_HandleIterator i = m_pausedSounds->begin(); + i != m_pausedSounds->end(); i++) + { + if(*i == handle) + { + m_playingSounds->push_back(*i); + start(); + m_pausedSounds->erase(i); + unlock(); + return true; + } + } + unlock(); + return false; +} + +bool AUD_OpenALDevice::stop(AUD_Handle* handle) +{ + AUD_OpenALHandle* sound; + + lock(); + for(AUD_HandleIterator i = m_playingSounds->begin(); + i != m_playingSounds->end(); i++) + { + if(*i == handle) + { + sound = *i; + alDeleteSources(1, &sound->source); + if(!sound->isBuffered) + { + delete sound->reader; AUD_DELETE("reader") + alDeleteBuffers(AUD_OPENAL_CYCLE_BUFFERS, sound->buffers); + } + delete *i; AUD_DELETE("handle") + m_playingSounds->erase(i); + unlock(); + return true; + } + } + for(AUD_HandleIterator i = m_pausedSounds->begin(); + i != m_pausedSounds->end(); i++) + { + if(*i == handle) + { + sound = *i; + alDeleteSources(1, &sound->source); + if(!sound->isBuffered) + { + delete sound->reader; AUD_DELETE("reader") + alDeleteBuffers(AUD_OPENAL_CYCLE_BUFFERS, sound->buffers); + } + delete *i; AUD_DELETE("handle") + m_pausedSounds->erase(i); + unlock(); + return true; + } + } + unlock(); + return false; +} + +bool AUD_OpenALDevice::setKeep(AUD_Handle* handle, bool keep) +{ + lock(); + if(isValid(handle)) + { + ((AUD_OpenALHandle*)handle)->keep = keep; + unlock(); + return true; + } + unlock(); + return false; +} + +bool AUD_OpenALDevice::sendMessage(AUD_Handle* handle, AUD_Message &message) +{ + lock(); + + bool result = false; + + if(handle == 0) + { + for(AUD_HandleIterator i = m_playingSounds->begin(); + i != m_playingSounds->end(); i++) + if(!(*i)->isBuffered) + result |= (*i)->reader->notify(message); + for(AUD_HandleIterator i = m_pausedSounds->begin(); + i != m_pausedSounds->end(); i++) + if(!(*i)->isBuffered) + result |= (*i)->reader->notify(message); + } + else if(isValid(handle)) + if(!((AUD_OpenALHandle*)handle)->isBuffered) + result = ((AUD_OpenALHandle*)handle)->reader->notify(message); + unlock(); + return result; +} + +bool AUD_OpenALDevice::seek(AUD_Handle* handle, float position) +{ + lock(); + + if(isValid(handle)) + { + AUD_OpenALHandle* alhandle = (AUD_OpenALHandle*)handle; + if(alhandle->isBuffered) + alSourcef(alhandle->source, AL_SEC_OFFSET, position); + else + { + alhandle->reader->seek((int)(position * + alhandle->reader->getSpecs().rate)); + alhandle->data_end = false; + + ALint info; + + alGetSourcei(alhandle->source, AL_SOURCE_STATE, &info); + + if(info != AL_PLAYING) + { + if(info != AL_STOPPED) + alSourceStop(alhandle->source); + + alSourceUnqueueBuffers(alhandle->source, + AUD_OPENAL_CYCLE_BUFFERS, + alhandle->buffers); + if(alGetError() == AL_NO_ERROR) + { + sample_t* buf; + int length; + AUD_Specs specs = alhandle->reader->getSpecs(); + + for(int i = 0; i < AUD_OPENAL_CYCLE_BUFFERS; i++) + { + length = m_buffersize; + alhandle->reader->read(length, buf); + alBufferData(alhandle->buffers[i], alhandle->format, + buf, length * AUD_SAMPLE_SIZE(specs), + specs.rate); + + if(alGetError() != AL_NO_ERROR) + break; + } + + alSourceQueueBuffers(alhandle->source, + AUD_OPENAL_CYCLE_BUFFERS, + alhandle->buffers); + } + + alSourceRewind(alhandle->source); + } + } + unlock(); + return true; + } + + unlock(); + return false; +} + +float AUD_OpenALDevice::getPosition(AUD_Handle* handle) +{ + lock(); + + float position = 0.0; + + if(isValid(handle)) + { + AUD_OpenALHandle* h = (AUD_OpenALHandle*)handle; + if(h->isBuffered) + alGetSourcef(h->source, AL_SEC_OFFSET, &position); + else + position = h->reader->getPosition() / + (float)h->reader->getSpecs().rate; + } + + unlock(); + return position; +} + +AUD_Status AUD_OpenALDevice::getStatus(AUD_Handle* handle) +{ + lock(); + for(AUD_HandleIterator i = m_playingSounds->begin(); + i != m_playingSounds->end(); i++) + { + if(*i == handle) + { + unlock(); + return AUD_STATUS_PLAYING; + } + } + for(AUD_HandleIterator i = m_pausedSounds->begin(); + i != m_pausedSounds->end(); i++) + { + if(*i == handle) + { + unlock(); + return AUD_STATUS_PAUSED; + } + } + unlock(); + return AUD_STATUS_INVALID; +} + +void AUD_OpenALDevice::lock() +{ + pthread_mutex_lock(&m_mutex); +} + +void AUD_OpenALDevice::unlock() +{ + pthread_mutex_unlock(&m_mutex); +} + +/******************************************************************************/ +/**************************** Capabilities Code *******************************/ +/******************************************************************************/ + +bool AUD_OpenALDevice::checkCapability(int capability) +{ + return capability == AUD_CAPS_3D_DEVICE || + capability == AUD_CAPS_VOLUME || + capability == AUD_CAPS_SOURCE_VOLUME || + capability == AUD_CAPS_SOURCE_PITCH || + capability == AUD_CAPS_BUFFERED_FACTORY; +} + +bool AUD_OpenALDevice::setCapability(int capability, void *value) +{ + switch(capability) + { + case AUD_CAPS_VOLUME: + alListenerf(AL_GAIN, *((float*)value)); + return true; + case AUD_CAPS_SOURCE_VOLUME: + { + AUD_SourceCaps* caps = (AUD_SourceCaps*) value; + lock(); + if(isValid(caps->handle)) + { + alSourcef(((AUD_OpenALHandle*)caps->handle)->source, + AL_GAIN, caps->value); + unlock(); + return true; + } + unlock(); + } + break; + case AUD_CAPS_SOURCE_PITCH: + { + AUD_SourceCaps* caps = (AUD_SourceCaps*) value; + lock(); + if(isValid(caps->handle)) + { + alSourcef(((AUD_OpenALHandle*)caps->handle)->source, + AL_PITCH, caps->value); + unlock(); + return true; + } + unlock(); + } + break; + case AUD_CAPS_BUFFERED_FACTORY: + { + AUD_IFactory* factory = (AUD_IFactory*) value; + + // load the factory into an OpenAL buffer + if(factory) + { + lock(); + for(AUD_BFIterator i = m_bufferedFactories->begin(); + i != m_bufferedFactories->end(); i++) + { + if((*i)->factory == factory) + { + unlock(); + return true; + } + } + unlock(); + + AUD_IReader* reader = factory->createReader(); + + if(reader == NULL) + return false; + + AUD_Specs specs; + + specs = reader->getSpecs(); + + // determine format + bool valid = reader->getType() == AUD_TYPE_BUFFER; + + if(valid) + { + if(specs.format == AUD_FORMAT_INVALID) + valid = false; + else if(specs.format == AUD_FORMAT_S24 || + specs.format == AUD_FORMAT_S32 || + specs.format == AUD_FORMAT_FLOAT32 || + specs.format == AUD_FORMAT_FLOAT64) + { + m_converter->setReader(reader); + reader = m_converter->createReader(); + specs = reader->getSpecs(); + } + } + + ALenum format; + + if(valid) + valid = getFormat(format, specs); + + if(!valid) + { + delete reader; AUD_DELETE("reader") + return false; + } + + // load into a buffer + lock(); + alcSuspendContext(m_context); + + AUD_OpenALBufferedFactory* bf = new AUD_OpenALBufferedFactory; + AUD_NEW("bufferedfactory"); + bf->factory = factory; + + try + { + alGenBuffers(1, &bf->buffer); + if(alGetError() != AL_NO_ERROR) + AUD_THROW(AUD_ERROR_OPENAL); + + try + { + sample_t* buf; + int length = reader->getLength(); + + reader->read(length, buf); + alBufferData(bf->buffer, format, buf, + length * AUD_SAMPLE_SIZE(specs), + specs.rate); + if(alGetError() != AL_NO_ERROR) + AUD_THROW(AUD_ERROR_OPENAL); + } + catch(AUD_Exception) + { + alDeleteBuffers(1, &bf->buffer); + throw; + } + } + catch(AUD_Exception) + { + delete bf; AUD_DELETE("bufferedfactory") + delete reader; AUD_DELETE("reader") + alcProcessContext(m_context); + unlock(); + return false; + } + + m_bufferedFactories->push_back(bf); + + alcProcessContext(m_context); + unlock(); + } + else + { + // stop all playing and paused buffered sources + lock(); + alcSuspendContext(m_context); + + AUD_OpenALHandle* sound; + AUD_HandleIterator it = m_playingSounds->begin(); + while(it != m_playingSounds->end()) + { + sound = *it; + ++it; + + if(sound->isBuffered) + stop(sound); + } + alcProcessContext(m_context); + + while(!m_bufferedFactories->empty()) + { + alDeleteBuffers(1, + &(*(m_bufferedFactories->begin()))->buffer); + delete *m_bufferedFactories->begin(); + AUD_DELETE("bufferedfactory"); + m_bufferedFactories->erase(m_bufferedFactories->begin()); + } + unlock(); + } + + return true; + } + break; + } + return false; +} + +bool AUD_OpenALDevice::getCapability(int capability, void *value) +{ + switch(capability) + { + case AUD_CAPS_VOLUME: + alGetListenerf(AL_GAIN, (float*)value); + return true; + case AUD_CAPS_SOURCE_VOLUME: + { + AUD_SourceCaps* caps = (AUD_SourceCaps*) value; + lock(); + if(isValid(caps->handle)) + { + alGetSourcef(((AUD_OpenALHandle*)caps->handle)->source, + AL_GAIN, &caps->value); + unlock(); + return true; + } + unlock(); + } + break; + case AUD_CAPS_SOURCE_PITCH: + { + AUD_SourceCaps* caps = (AUD_SourceCaps*) value; + lock(); + if(isValid(caps->handle)) + { + alGetSourcef(((AUD_OpenALHandle*)caps->handle)->source, + AL_PITCH, &caps->value); + unlock(); + return true; + } + unlock(); + } + break; + } + return false; +} + +/******************************************************************************/ +/**************************** 3D Device Code **********************************/ +/******************************************************************************/ + +AUD_Handle* AUD_OpenALDevice::play3D(AUD_IFactory* factory, bool keep) +{ + AUD_OpenALHandle* handle = (AUD_OpenALHandle*)play(factory, keep); + if(handle) + alSourcei(handle->source, AL_SOURCE_RELATIVE, 0); + return handle; +} + +bool AUD_OpenALDevice::updateListener(AUD_3DData &data) +{ + alListenerfv(AL_POSITION, (ALfloat*)data.position); + alListenerfv(AL_VELOCITY, (ALfloat*)data.velocity); + alListenerfv(AL_ORIENTATION, (ALfloat*)&(data.orientation[3])); + + return true; +} + +bool AUD_OpenALDevice::setSetting(AUD_3DSetting setting, float value) +{ + switch(setting) + { + case AUD_3DS_DISTANCE_MODEL: + if(value == AUD_DISTANCE_MODEL_NONE) + alDistanceModel(AL_NONE); + else if(value == AUD_DISTANCE_MODEL_INVERSE) + alDistanceModel(AL_INVERSE_DISTANCE); + else if(value == AUD_DISTANCE_MODEL_INVERSE_CLAMPED) + alDistanceModel(AL_INVERSE_DISTANCE_CLAMPED); + else if(value == AUD_DISTANCE_MODEL_LINEAR) + alDistanceModel(AL_LINEAR_DISTANCE); + else if(value == AUD_DISTANCE_MODEL_LINEAR_CLAMPED) + alDistanceModel(AL_LINEAR_DISTANCE_CLAMPED); + else if(value == AUD_DISTANCE_MODEL_EXPONENT) + alDistanceModel(AL_EXPONENT_DISTANCE); + else if(value == AUD_DISTANCE_MODEL_EXPONENT_CLAMPED) + alDistanceModel(AL_EXPONENT_DISTANCE_CLAMPED); + else + return false; + return true; + case AUD_3DS_DOPPLER_FACTOR: + alDopplerFactor(value); + return true; + case AUD_3DS_SPEED_OF_SOUND: + alSpeedOfSound(value); + return true; + default: + return false; + } +} + +float AUD_OpenALDevice::getSetting(AUD_3DSetting setting) +{ + switch(setting) + { + case AUD_3DS_DISTANCE_MODEL: + switch(alGetInteger(AL_DISTANCE_MODEL)) + { + case AL_NONE: + return AUD_DISTANCE_MODEL_NONE; + case AL_INVERSE_DISTANCE: + return AUD_DISTANCE_MODEL_INVERSE; + case AL_INVERSE_DISTANCE_CLAMPED: + return AUD_DISTANCE_MODEL_INVERSE_CLAMPED; + case AL_LINEAR_DISTANCE: + return AUD_DISTANCE_MODEL_LINEAR; + case AL_LINEAR_DISTANCE_CLAMPED: + return AUD_DISTANCE_MODEL_LINEAR_CLAMPED; + case AL_EXPONENT_DISTANCE: + return AUD_DISTANCE_MODEL_EXPONENT; + case AL_EXPONENT_DISTANCE_CLAMPED: + return AUD_DISTANCE_MODEL_EXPONENT_CLAMPED; + } + case AUD_3DS_DOPPLER_FACTOR: + return alGetFloat(AL_DOPPLER_FACTOR); + case AUD_3DS_SPEED_OF_SOUND: + return alGetFloat(AL_SPEED_OF_SOUND); + default: + return std::numeric_limits<float>::quiet_NaN(); + } +} + +bool AUD_OpenALDevice::updateSource(AUD_Handle* handle, AUD_3DData &data) +{ + lock(); + + if(isValid(handle)) + { + int source = ((AUD_OpenALHandle*)handle)->source; + alSourcefv(source, AL_POSITION, (ALfloat*)data.position); + alSourcefv(source, AL_VELOCITY, (ALfloat*)data.velocity); + alSourcefv(source, AL_DIRECTION, (ALfloat*)&(data.orientation[3])); + unlock(); + return true; + } + + unlock(); + return false; +} + +bool AUD_OpenALDevice::setSourceSetting(AUD_Handle* handle, + AUD_3DSourceSetting setting, + float value) +{ + lock(); + + bool result = false; + + if(isValid(handle)) + { + int source = ((AUD_OpenALHandle*)handle)->source; + + switch(setting) + { + case AUD_3DSS_CONE_INNER_ANGLE: + alSourcef(source, AL_CONE_INNER_ANGLE, value); + result = true; + break; + case AUD_3DSS_CONE_OUTER_ANGLE: + alSourcef(source, AL_CONE_OUTER_ANGLE, value); + result = true; + break; + case AUD_3DSS_CONE_OUTER_GAIN: + alSourcef(source, AL_CONE_OUTER_GAIN, value); + result = true; + break; + case AUD_3DSS_IS_RELATIVE: + alSourcei(source, AL_SOURCE_RELATIVE, value > 0.0); + result = true; + break; + case AUD_3DSS_MAX_DISTANCE: + alSourcef(source, AL_MAX_DISTANCE, value); + result = true; + break; + case AUD_3DSS_MAX_GAIN: + alSourcef(source, AL_MAX_GAIN, value); + result = true; + break; + case AUD_3DSS_MIN_GAIN: + alSourcef(source, AL_MIN_GAIN, value); + result = true; + break; + case AUD_3DSS_REFERENCE_DISTANCE: + alSourcef(source, AL_REFERENCE_DISTANCE, value); + result = true; + break; + case AUD_3DSS_ROLLOFF_FACTOR: + alSourcef(source, AL_ROLLOFF_FACTOR, value); + result = true; + break; + default: + break; + } + } + + unlock(); + return result; +} + +float AUD_OpenALDevice::getSourceSetting(AUD_Handle* handle, + AUD_3DSourceSetting setting) +{ + float result = std::numeric_limits<float>::quiet_NaN();; + + lock(); + + if(isValid(handle)) + { + int source = ((AUD_OpenALHandle*)handle)->source; + + switch(setting) + { + case AUD_3DSS_CONE_INNER_ANGLE: + alGetSourcef(source, AL_CONE_INNER_ANGLE, &result); + break; + case AUD_3DSS_CONE_OUTER_ANGLE: + alGetSourcef(source, AL_CONE_OUTER_ANGLE, &result); + break; + case AUD_3DSS_CONE_OUTER_GAIN: + alGetSourcef(source, AL_CONE_OUTER_GAIN, &result); + break; + case AUD_3DSS_IS_RELATIVE: + { + ALint i; + alGetSourcei(source, AL_SOURCE_RELATIVE, &i); + result = i ? 1.0 : 0.0; + break; + } + case AUD_3DSS_MAX_DISTANCE: + alGetSourcef(source, AL_MAX_DISTANCE, &result); + break; + case AUD_3DSS_MAX_GAIN: + alGetSourcef(source, AL_MAX_GAIN, &result); + break; + case AUD_3DSS_MIN_GAIN: + alGetSourcef(source, AL_MIN_GAIN, &result); + break; + case AUD_3DSS_REFERENCE_DISTANCE: + alGetSourcef(source, AL_REFERENCE_DISTANCE, &result); + break; + case AUD_3DSS_ROLLOFF_FACTOR: + alGetSourcef(source, AL_ROLLOFF_FACTOR, &result); + break; + default: + break; + } + } + + unlock(); + return result; +} diff --git a/intern/audaspace/OpenAL/AUD_OpenALDevice.h b/intern/audaspace/OpenAL/AUD_OpenALDevice.h new file mode 100644 index 00000000000..074cd3d1924 --- /dev/null +++ b/intern/audaspace/OpenAL/AUD_OpenALDevice.h @@ -0,0 +1,171 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_OPENALDEVICE +#define AUD_OPENALDEVICE + +#include "AUD_IDevice.h" +#include "AUD_I3DDevice.h" +struct AUD_OpenALHandle; +struct AUD_OpenALBufferedFactory; +class AUD_ConverterFactory; + +#include <AL/al.h> +#include <AL/alc.h> +#include <list> +#include <pthread.h> + +/** + * This device plays through OpenAL. + */ +class AUD_OpenALDevice : public AUD_IDevice, public AUD_I3DDevice +{ +private: + /** + * The OpenAL device handle. + */ + ALCdevice* m_device; + + /** + * The OpenAL context. + */ + ALCcontext* m_context; + + /** + * The specification of the device. + */ + AUD_Specs m_specs; + + /** + * Whether the device has the AL_EXT_MCFORMATS extension. + */ + bool m_useMC; + + /** + * The converter factory for readers with wrong input format. + */ + AUD_ConverterFactory* m_converter; + + /** + * The list of sounds that are currently playing. + */ + std::list<AUD_OpenALHandle*>* m_playingSounds; + + /** + * The list of sounds that are currently paused. + */ + std::list<AUD_OpenALHandle*>* m_pausedSounds; + + /** + * The list of buffered factories. + */ + std::list<AUD_OpenALBufferedFactory*>* m_bufferedFactories; + + /** + * The mutex for locking. + */ + pthread_mutex_t m_mutex; + + /** + * The streaming thread. + */ + pthread_t m_thread; + + /** + * The condition for streaming thread wakeup. + */ + bool m_playing; + + /** + * Buffer size. + */ + int m_buffersize; + + /** + * Starts the streaming thread. + */ + void start(); + + /** + * Checks if a handle is valid. + * \param handle The handle to check. + * \return Whether the handle is valid. + */ + bool isValid(AUD_Handle* handle); + + /** + * Gets the format according to the specs. + * \param format The variable to put the format into. + * \param specs The specs to read the format from. + * \return Whether the format is valid or not. + */ + bool getFormat(ALenum &format, AUD_Specs specs); + +public: + /** + * Opens the OpenAL audio device for playback. + * \param specs The wanted audio specification. + * \param buffersize The size of the internal buffer. + * \note The specification really used for opening the device may differ. + * \note The buffersize will be multiplicated by three for this device. + * \exception AUD_Exception Thrown if the audio device cannot be opened. + */ + AUD_OpenALDevice(AUD_Specs specs, int buffersize = AUD_DEFAULT_BUFFER_SIZE); + + /** + * Streaming thread main function. + */ + void updateStreams(); + + virtual ~AUD_OpenALDevice(); + + virtual AUD_Specs getSpecs(); + virtual AUD_Handle* play(AUD_IFactory* factory, bool keep = false); + virtual bool pause(AUD_Handle* handle); + virtual bool resume(AUD_Handle* handle); + virtual bool stop(AUD_Handle* handle); + virtual bool setKeep(AUD_Handle* handle, bool keep); + virtual bool sendMessage(AUD_Handle* handle, AUD_Message &message); + virtual bool seek(AUD_Handle* handle, float position); + virtual float getPosition(AUD_Handle* handle); + virtual AUD_Status getStatus(AUD_Handle* handle); + virtual void lock(); + virtual void unlock(); + virtual bool checkCapability(int capability); + virtual bool setCapability(int capability, void *value); + virtual bool getCapability(int capability, void *value); + + virtual AUD_Handle* play3D(AUD_IFactory* factory, bool keep = false); + virtual bool updateListener(AUD_3DData &data); + virtual bool setSetting(AUD_3DSetting setting, float value); + virtual float getSetting(AUD_3DSetting setting); + virtual bool updateSource(AUD_Handle* handle, AUD_3DData &data); + virtual bool setSourceSetting(AUD_Handle* handle, + AUD_3DSourceSetting setting, float value); + virtual float getSourceSetting(AUD_Handle* handle, + AUD_3DSourceSetting setting); +}; + +#endif //AUD_OPENALDEVICE diff --git a/intern/audaspace/OpenAL/Makefile b/intern/audaspace/OpenAL/Makefile new file mode 100644 index 00000000000..4cf9f66b06c --- /dev/null +++ b/intern/audaspace/OpenAL/Makefile @@ -0,0 +1,39 @@ +# +# $Id$ +# +# ***** BEGIN GPL LICENSE BLOCK ***** +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 +# of the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software Foundation, +# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. +# All rights reserved. +# +# The Original Code is: all of this file. +# +# Contributor(s): none yet. +# +# ***** END GPL LICENSE BLOCK ***** +# +# + +LIBNAME = aud_openal +DIR = $(OCGDIR)/intern/audaspace + +include nan_compile.mk + +CCFLAGS += $(LEVEL_1_CPP_WARNINGS) + +CPPFLAGS += -I../intern +CPPFLAGS += -I. diff --git a/intern/audaspace/SConscript b/intern/audaspace/SConscript new file mode 100644 index 00000000000..025fa5a2379 --- /dev/null +++ b/intern/audaspace/SConscript @@ -0,0 +1,34 @@ +#!/usr/bin/python + +Import ('env') + +sources = env.Glob('intern/*.cpp') + env.Glob('FX/*.cpp') + env.Glob('SRC/*.cpp') +incs = '. intern FX SRC ' + env['BF_PTHREADS_INC'] + ' ' + env['BF_LIBSAMPLERATE_INC'] +defs = [] + +if env['WITH_BF_FFMPEG']: + sources += env.Glob('ffmpeg/*.cpp') + incs += ' ffmpeg ' + env['BF_FFMPEG_INC'] + defs.append('WITH_FFMPEG') + +if env['WITH_BF_SDL']: + sources += env.Glob('SDL/*.cpp') + incs += ' SDL ' + env['BF_SDL_INC'] + defs.append('WITH_SDL') + +if env['WITH_BF_OPENAL']: + sources += env.Glob('OpenAL/*.cpp') + incs += ' OpenAL ' + env['BF_OPENAL_INC'] + defs.append('WITH_OPENAL') + +if env['WITH_BF_JACK']: + sources += env.Glob('jack/*.cpp') + incs += ' jack ' + env['BF_JACK_INC'] + defs.append('WITH_JACK') + +if env['WITH_BF_SNDFILE']: + sources += env.Glob('sndfile/*.cpp') + incs += ' sndfile ' + env['BF_SNDFILE_INC'] + defs.append('WITH_SNDFILE') + +env.BlenderLib ('bf_audaspace', sources, Split(incs), defs, libtype=['intern','player'], priority = [25,215] ) diff --git a/intern/audaspace/SDL/AUD_SDLDevice.cpp b/intern/audaspace/SDL/AUD_SDLDevice.cpp new file mode 100644 index 00000000000..dd443e7f5c7 --- /dev/null +++ b/intern/audaspace/SDL/AUD_SDLDevice.cpp @@ -0,0 +1,90 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_SDLMixer.h" +#include "AUD_SDLDevice.h" +#include "AUD_IReader.h" + +void AUD_SDLDevice::SDL_mix(void *data, Uint8* buffer, int length) +{ + AUD_SDLDevice* device = (AUD_SDLDevice*)data; + + device->mix((sample_t*)buffer, length/AUD_SAMPLE_SIZE(device->m_specs)); +} + +AUD_SDLDevice::AUD_SDLDevice(AUD_Specs specs, int buffersize) +{ + if(specs.channels == AUD_CHANNELS_INVALID) + specs.channels = AUD_CHANNELS_STEREO; + if(specs.format == AUD_FORMAT_INVALID) + specs.format = AUD_FORMAT_S16; + if(specs.rate == AUD_RATE_INVALID) + specs.rate = AUD_RATE_44100; + + m_specs = specs; + + SDL_AudioSpec format, obtained; + + format.freq = m_specs.rate; + if(m_specs.format == AUD_FORMAT_U8) + format.format = AUDIO_U8; + else + format.format = AUDIO_S16SYS; + format.channels = m_specs.channels; + format.samples = buffersize; + format.callback = AUD_SDLDevice::SDL_mix; + format.userdata = this; + + if(SDL_OpenAudio(&format, &obtained) != 0) + AUD_THROW(AUD_ERROR_SDL); + + m_specs.rate = (AUD_SampleRate)obtained.freq; + m_specs.channels = (AUD_Channels)obtained.channels; + if(obtained.format == AUDIO_U8) + m_specs.format = AUD_FORMAT_U8; + else if(obtained.format == AUDIO_S16LSB || obtained.format == AUDIO_S16MSB) + m_specs.format = AUD_FORMAT_S16; + else + AUD_THROW(AUD_ERROR_SDL); + + m_mixer = new AUD_SDLMixer(); AUD_NEW("mixer") + m_mixer->setSpecs(m_specs); + + create(); +} + +AUD_SDLDevice::~AUD_SDLDevice() +{ + lock(); + SDL_CloseAudio(); + unlock(); + + destroy(); +} + +void AUD_SDLDevice::playing(bool playing) +{ + SDL_PauseAudio(playing ? 0 : 1); +} diff --git a/intern/audaspace/SDL/AUD_SDLDevice.h b/intern/audaspace/SDL/AUD_SDLDevice.h new file mode 100644 index 00000000000..e2c6f7631b7 --- /dev/null +++ b/intern/audaspace/SDL/AUD_SDLDevice.h @@ -0,0 +1,66 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SDLDEVICE +#define AUD_SDLDEVICE + +#include "AUD_SoftwareDevice.h" + +#include <SDL.h> + +/** + * This device plays back through SDL, the simple direct media layer. + */ +class AUD_SDLDevice : public AUD_SoftwareDevice +{ +private: + /** + * Mixes the next bytes into the buffer. + * \param data The SDL device. + * \param buffer The target buffer. + * \param length The length in bytes to be filled. + */ + static void SDL_mix(void *data, Uint8* buffer, int length); + +protected: + virtual void playing(bool playing); + +public: + /** + * Opens the SDL audio device for playback. + * \param specs The wanted audio specification. + * \param buffersize The size of the internal buffer. + * \note The specification really used for opening the device may differ. + * \exception AUD_Exception Thrown if the audio device cannot be opened. + */ + AUD_SDLDevice(AUD_Specs specs, int buffersize = AUD_DEFAULT_BUFFER_SIZE); + + /** + * Closes the SDL audio device. + */ + virtual ~AUD_SDLDevice(); +}; + +#endif //AUD_SDLDEVICE diff --git a/intern/audaspace/SDL/AUD_SDLMixer.cpp b/intern/audaspace/SDL/AUD_SDLMixer.cpp new file mode 100644 index 00000000000..cacc0c7063c --- /dev/null +++ b/intern/audaspace/SDL/AUD_SDLMixer.cpp @@ -0,0 +1,83 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_SDLMixer.h" +#include "AUD_SDLMixerFactory.h" + +#include <SDL.h> + +AUD_SDLMixer::AUD_SDLMixer() +{ + m_factory = NULL; +} + +AUD_SDLMixer::~AUD_SDLMixer() +{ + if(m_factory) + { + delete m_factory; AUD_DELETE("factory") + } +} + +AUD_IReader* AUD_SDLMixer::prepare(AUD_IReader* reader) +{ + m_factory->setReader(reader); + return m_factory->createReader(); +} + +void AUD_SDLMixer::setSpecs(AUD_Specs specs) +{ + m_samplesize = AUD_SAMPLE_SIZE(specs); + if(m_factory) + { + delete m_factory; AUD_DELETE("factory") + } + m_factory = new AUD_SDLMixerFactory(specs); AUD_NEW("factory") +} + +void AUD_SDLMixer::add(sample_t* buffer, AUD_Specs specs, int length, + float volume) +{ + AUD_SDLMixerBuffer buf; + buf.buffer = buffer; + buf.length = length; + buf.volume = volume; + m_buffers.push_back(buf); +} + +void AUD_SDLMixer::superpose(sample_t* buffer, int length, float volume) +{ + AUD_SDLMixerBuffer buf; + + while(!m_buffers.empty()) + { + buf = m_buffers.front(); + m_buffers.pop_front(); + SDL_MixAudio((Uint8*)buffer, + (Uint8*)buf.buffer, + buf.length * m_samplesize, + (int)(SDL_MIX_MAXVOLUME * volume * buf.volume)); + } +} diff --git a/intern/audaspace/SDL/AUD_SDLMixer.h b/intern/audaspace/SDL/AUD_SDLMixer.h new file mode 100644 index 00000000000..2cc4e51f66d --- /dev/null +++ b/intern/audaspace/SDL/AUD_SDLMixer.h @@ -0,0 +1,76 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SDLMIXER +#define AUD_SDLMIXER + +#include "AUD_IMixer.h" +class AUD_SDLMixerFactory; +#include <list> + +struct AUD_SDLMixerBuffer +{ + sample_t* buffer; + int length; + float volume; +}; + +/** + * This class is able to mix audiosignals with the help of SDL. + */ +class AUD_SDLMixer : public AUD_IMixer +{ +private: + /** + * The mixer factory that prepares all readers for superposition. + */ + AUD_SDLMixerFactory* m_factory; + + /** + * The list of buffers to superpose. + */ + std::list<AUD_SDLMixerBuffer> m_buffers; + + /** + * The size of an output sample. + */ + int m_samplesize; + +public: + /** + * Creates the mixer. + */ + AUD_SDLMixer(); + + virtual ~AUD_SDLMixer(); + + virtual AUD_IReader* prepare(AUD_IReader* reader); + virtual void setSpecs(AUD_Specs specs); + virtual void add(sample_t* buffer, AUD_Specs specs, int length, + float volume); + virtual void superpose(sample_t* buffer, int length, float volume); +}; + +#endif //AUD_SDLMIXER diff --git a/intern/audaspace/SDL/AUD_SDLMixerFactory.cpp b/intern/audaspace/SDL/AUD_SDLMixerFactory.cpp new file mode 100644 index 00000000000..e0b0c7d3603 --- /dev/null +++ b/intern/audaspace/SDL/AUD_SDLMixerFactory.cpp @@ -0,0 +1,65 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_SDLMixerFactory.h" +#include "AUD_SDLMixerReader.h" + +#include <cstring> + +AUD_SDLMixerFactory::AUD_SDLMixerFactory(AUD_IReader* reader, AUD_Specs specs) : + AUD_MixerFactory(reader, specs) {} + +AUD_SDLMixerFactory::AUD_SDLMixerFactory(AUD_IFactory* factory, AUD_Specs specs) : + AUD_MixerFactory(factory, specs) {} + +AUD_SDLMixerFactory::AUD_SDLMixerFactory(AUD_Specs specs) : + AUD_MixerFactory(specs) {} + +AUD_IReader* AUD_SDLMixerFactory::createReader() +{ + AUD_IReader* reader = getReader(); + + if(reader != 0) + { + AUD_Specs specs = reader->getSpecs(); + if(memcmp(&m_specs, &specs, sizeof(AUD_Specs)) != 0) + { + try + { + reader = new AUD_SDLMixerReader(reader, m_specs); + AUD_NEW("reader") + } + catch(AUD_Exception e) + { + // return 0 in case SDL cannot mix the source + if(e.error != AUD_ERROR_SDL) + throw; + else + reader = NULL; + } + } + } + return reader; +} diff --git a/intern/audaspace/SDL/AUD_SDLMixerFactory.h b/intern/audaspace/SDL/AUD_SDLMixerFactory.h new file mode 100644 index 00000000000..44b36d06859 --- /dev/null +++ b/intern/audaspace/SDL/AUD_SDLMixerFactory.h @@ -0,0 +1,45 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SDLMIXERFACTORY +#define AUD_SDLMIXERFACTORY + +#include "AUD_MixerFactory.h" + +/** + * This factory creates a resampling reader that uses SDL's resampling + * functionality which unfortunately is very very very limited. + */ +class AUD_SDLMixerFactory : public AUD_MixerFactory +{ +public: + AUD_SDLMixerFactory(AUD_IReader* reader, AUD_Specs specs); + AUD_SDLMixerFactory(AUD_IFactory* factory, AUD_Specs specs); + AUD_SDLMixerFactory(AUD_Specs specs); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_SDLMIXERFACTORY diff --git a/intern/audaspace/SDL/AUD_SDLMixerReader.cpp b/intern/audaspace/SDL/AUD_SDLMixerReader.cpp new file mode 100644 index 00000000000..0a47e36533a --- /dev/null +++ b/intern/audaspace/SDL/AUD_SDLMixerReader.cpp @@ -0,0 +1,216 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_SDLMixerReader.h" +#include "AUD_Buffer.h" + +#include <cstring> + +inline Uint16 AUD_TO_SDL(AUD_SampleFormat format) +{ + // SDL only supports 8 and 16 bit audio + switch(format) + { + case AUD_FORMAT_U8: + return AUDIO_U8; + case AUD_FORMAT_S16: + return AUDIO_S16SYS; + default: + AUD_THROW(AUD_ERROR_SDL); + } +} + +// greatest common divisor +inline int gcd(int a, int b) +{ + int c; + + // make sure a is the bigger + if(b > a) + { + c = b; + b = a; + a = c; + } + + // greetings from Euclides + while(b != 0) + { + c = a % b; + a = b; + b = c; + } + return a; +} + +AUD_SDLMixerReader::AUD_SDLMixerReader(AUD_IReader* reader, + AUD_Specs specs) +{ + if(reader == NULL) + AUD_THROW(AUD_ERROR_READER); + + m_reader = reader; + m_tspecs = specs; + m_sspecs = reader->getSpecs(); + + try + { + // SDL only supports 8 and 16 bit sample formats + if(SDL_BuildAudioCVT(&m_cvt, + AUD_TO_SDL(m_sspecs.format), + m_sspecs.channels, + m_sspecs.rate, + AUD_TO_SDL(specs.format), + specs.channels, + specs.rate) == -1) + AUD_THROW(AUD_ERROR_SDL); + } + catch(AUD_Exception) + { + delete m_reader; AUD_DELETE("reader") + throw; + } + + m_eor = false; + m_rsposition = 0; + m_rssize = 0; + m_ssize = m_sspecs.rate / gcd(specs.rate, m_sspecs.rate); + m_tsize = m_tspecs.rate * m_ssize / m_sspecs.rate; + + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") + m_rsbuffer = new AUD_Buffer(); AUD_NEW("buffer") +} + +AUD_SDLMixerReader::~AUD_SDLMixerReader() +{ + delete m_reader; AUD_DELETE("reader") + delete m_buffer; AUD_DELETE("buffer") + delete m_rsbuffer; AUD_DELETE("buffer") +} + +bool AUD_SDLMixerReader::isSeekable() +{ + return m_reader->isSeekable(); +} + +void AUD_SDLMixerReader::seek(int position) +{ + m_reader->seek(position * m_ssize / m_tsize); + m_eor = false; +} + +int AUD_SDLMixerReader::getLength() +{ + return m_reader->getLength() * m_tsize / m_ssize; +} + +int AUD_SDLMixerReader::getPosition() +{ + return m_reader->getPosition() * m_tsize / m_ssize; +} + +AUD_Specs AUD_SDLMixerReader::getSpecs() +{ + return m_tspecs; +} + +AUD_ReaderType AUD_SDLMixerReader::getType() +{ + return m_reader->getType(); +} + +bool AUD_SDLMixerReader::notify(AUD_Message &message) +{ + return m_reader->notify(message); +} + +void AUD_SDLMixerReader::read(int & length, sample_t* & buffer) +{ + // sample count for the target buffer without getting a shift + int tns = length + m_tsize - length % m_tsize; + // sample count for the source buffer without getting a shift + int sns = tns * m_ssize / m_tsize; + // target sample size + int tss = AUD_SAMPLE_SIZE(m_tspecs); + // source sample size + int sss = AUD_SAMPLE_SIZE(m_sspecs); + + // input is output buffer + int buf_size = AUD_MAX(tns*tss, sns*sss); + + // resize if necessary + if(m_rsbuffer->getSize() < buf_size) + m_rsbuffer->resize(buf_size, true); + + if(m_buffer->getSize() < length*tss) + m_buffer->resize(length*tss); + + buffer = m_buffer->getBuffer(); + int size; + int index = 0; + sample_t* buf; + + while(index < length) + { + if(m_rsposition == m_rssize) + { + // no more data + if(m_eor) + length = index; + // mix + else + { + // read from source + size = sns; + m_reader->read(size, buf); + + // prepare + m_cvt.buf = m_rsbuffer->getBuffer(); + m_cvt.len = size*sss; + memcpy(m_cvt.buf, buf, size*sss); + + // convert + SDL_ConvertAudio(&m_cvt); + + // end of reader + if(size < sns) + m_eor = true; + + m_rsposition = 0; + m_rssize = size * m_tsize / m_ssize; + } + } + + // size to copy + size = AUD_MIN(m_rssize-m_rsposition, length-index); + + // copy + memcpy(m_buffer->getBuffer() + index * tss, + m_rsbuffer->getBuffer() + m_rsposition * tss, + size*tss); + m_rsposition += size; + index += size; + } +} diff --git a/intern/audaspace/SDL/AUD_SDLMixerReader.h b/intern/audaspace/SDL/AUD_SDLMixerReader.h new file mode 100644 index 00000000000..56668d02171 --- /dev/null +++ b/intern/audaspace/SDL/AUD_SDLMixerReader.h @@ -0,0 +1,128 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SDLMIXERREADER +#define AUD_SDLMIXERREADER + +#include "AUD_IReader.h" +class AUD_Buffer; + +#include <SDL.h> + +/** + * This class mixes a sound source with help of the SDL library. + * Unfortunately SDL is only capable of 8 and 16 bit audio, mono and stereo, as + * well as resampling only 2^n sample rate relationships where n is a natural + * number. + * \warning Although SDL can only resample 2^n sample rate relationships, this + * class doesn't check for compliance, so in case of other factors, + * the behaviour is undefined. + */ +class AUD_SDLMixerReader : public AUD_IReader +{ +private: + /** + * The reader that is being mixed. + */ + AUD_IReader* m_reader; + + /** + * The current reading position in the resampling buffer. + */ + int m_rsposition; + + /** + * The count of mixed samples in the resampling buffer. + */ + int m_rssize; + + /** + * The smallest count of source samples to get a fractionless resampling + * factor. + */ + int m_ssize; + + /** + * The smallest count of target samples to get a fractionless resampling + * factor. + */ + int m_tsize; + + /** + * The sound output buffer. + */ + AUD_Buffer *m_buffer; + + /** + * The resampling buffer. + */ + AUD_Buffer *m_rsbuffer; + + /** + * The target specification. + */ + AUD_Specs m_tspecs; + + /** + * The sample specification of the source. + */ + AUD_Specs m_sspecs; + + /** + * Saves whether the end of the source has been reached. + */ + bool m_eor; + + /** + * The SDL_AudioCVT structure used for resampling. + */ + SDL_AudioCVT m_cvt; + +public: + /** + * Creates a resampling reader. + * \param reader The reader to mix. + * \param specs The target specification. + * \exception AUD_Exception Thrown if the source specification cannot be + * mixed to the target specification or if the reader is + * NULL. + */ + AUD_SDLMixerReader(AUD_IReader* reader, AUD_Specs specs); + /** + * Destroys the reader. + */ + ~AUD_SDLMixerReader(); + + virtual bool isSeekable(); + virtual void seek(int position); + virtual int getLength(); + virtual int getPosition(); + virtual AUD_Specs getSpecs(); + virtual AUD_ReaderType getType(); + virtual bool notify(AUD_Message &message); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_SDLMIXERREADER diff --git a/intern/SoundSystem/sdl/Makefile b/intern/audaspace/SDL/Makefile index 669d7110797..02a4068f3dc 100644 --- a/intern/SoundSystem/sdl/Makefile +++ b/intern/audaspace/SDL/Makefile @@ -28,16 +28,14 @@ # # -LIBNAME = SDLSoundSystem -DIR = $(OCGDIR)/intern/$(LIBNAME) +LIBNAME = aud_sdl +DIR = $(OCGDIR)/intern/audaspace include nan_compile.mk CCFLAGS += $(LEVEL_1_CPP_WARNINGS) CPPFLAGS += $(NAN_SDLCFLAGS) -CPPFLAGS += -I$(NAN_STRING)/include -CPPFLAGS += -I$(NAN_MOTO)/include CPPFLAGS += -I../intern CPPFLAGS += -I.. CPPFLAGS += -I. diff --git a/intern/audaspace/SRC/AUD_SRCResampleFactory.cpp b/intern/audaspace/SRC/AUD_SRCResampleFactory.cpp new file mode 100644 index 00000000000..bcace340b24 --- /dev/null +++ b/intern/audaspace/SRC/AUD_SRCResampleFactory.cpp @@ -0,0 +1,53 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_SRCResampleFactory.h" +#include "AUD_SRCResampleReader.h" + +AUD_SRCResampleFactory::AUD_SRCResampleFactory(AUD_IReader* reader, + AUD_Specs specs) : + AUD_ResampleFactory(reader, specs) {} + +AUD_SRCResampleFactory::AUD_SRCResampleFactory(AUD_IFactory* factory, + AUD_Specs specs) : + AUD_ResampleFactory(factory, specs) {} + +AUD_SRCResampleFactory::AUD_SRCResampleFactory(AUD_Specs specs) : + AUD_ResampleFactory(specs) {} + +AUD_IReader* AUD_SRCResampleFactory::createReader() +{ + AUD_IReader* reader = getReader(); + + if(reader != 0) + { + if(reader->getSpecs().rate != m_specs.rate) + { + reader = new AUD_SRCResampleReader(reader, m_specs); + AUD_NEW("reader") + } + } + return reader; +} diff --git a/intern/audaspace/SRC/AUD_SRCResampleFactory.h b/intern/audaspace/SRC/AUD_SRCResampleFactory.h new file mode 100644 index 00000000000..c23c1d2c82e --- /dev/null +++ b/intern/audaspace/SRC/AUD_SRCResampleFactory.h @@ -0,0 +1,46 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SRCRESAMPLEFACTORY +#define AUD_SRCRESAMPLEFACTORY + +#include "AUD_ResampleFactory.h" + +/** + * This factory creates a resampling reader that uses libsamplerate for + * resampling. + * \note The format of the input must be float. + */ +class AUD_SRCResampleFactory : public AUD_ResampleFactory +{ +public: + AUD_SRCResampleFactory(AUD_IReader* reader, AUD_Specs specs); + AUD_SRCResampleFactory(AUD_IFactory* factory, AUD_Specs specs); + AUD_SRCResampleFactory(AUD_Specs specs); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_SRCRESAMPLEFACTORY diff --git a/intern/audaspace/SRC/AUD_SRCResampleReader.cpp b/intern/audaspace/SRC/AUD_SRCResampleReader.cpp new file mode 100644 index 00000000000..f7564d3c010 --- /dev/null +++ b/intern/audaspace/SRC/AUD_SRCResampleReader.cpp @@ -0,0 +1,119 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_SRCResampleReader.h" +#include "AUD_Buffer.h" + +#include <math.h> +#include <cstring> +#include <stdio.h> + +static long src_callback(void *cb_data, float **data) +{ + return ((AUD_SRCResampleReader*)cb_data)->doCallback(data); +} + +AUD_SRCResampleReader::AUD_SRCResampleReader(AUD_IReader* reader, + AUD_Specs specs) : + AUD_EffectReader(reader) +{ + m_sspecs = reader->getSpecs(); + + if(m_sspecs.format != AUD_FORMAT_FLOAT32) + { + delete m_reader; AUD_DELETE("reader") + AUD_THROW(AUD_ERROR_READER); + } + + m_tspecs = specs; + m_tspecs.channels = m_sspecs.channels; + m_tspecs.format = m_sspecs.format; + m_factor = (double)m_tspecs.rate / (double)m_sspecs.rate; + + int error; + m_src = src_callback_new(src_callback, + SRC_SINC_MEDIUM_QUALITY, + m_sspecs.channels, + &error, + this); + + if(!m_src) + { + // XXX printf("%s\n", src_strerror(error)); + delete m_reader; AUD_DELETE("reader") + AUD_THROW(AUD_ERROR_READER); + } + + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") +} + +AUD_SRCResampleReader::~AUD_SRCResampleReader() +{ + delete m_buffer; AUD_DELETE("buffer") + + src_delete(m_src); +} + +long AUD_SRCResampleReader::doCallback(float** data) +{ + int length = m_buffer->getSize() / 4 / m_tspecs.channels; + sample_t* buffer; + + m_reader->read(length, buffer); + + *data = (float*)buffer; + return length; +} + +void AUD_SRCResampleReader::seek(int position) +{ + m_reader->seek(position / m_factor); + src_reset(m_src); +} + +int AUD_SRCResampleReader::getLength() +{ + return m_reader->getLength() * m_factor; +} + +int AUD_SRCResampleReader::getPosition() +{ + return m_reader->getPosition() * m_factor; +} + +AUD_Specs AUD_SRCResampleReader::getSpecs() +{ + return m_tspecs; +} + +void AUD_SRCResampleReader::read(int & length, sample_t* & buffer) +{ + if(m_buffer->getSize() < length * m_tspecs.channels * 4) + m_buffer->resize(length * m_tspecs.channels * 4); + + buffer = m_buffer->getBuffer(); + + length = src_callback_read(m_src, m_factor, length, (float*)buffer); +} diff --git a/intern/audaspace/SRC/AUD_SRCResampleReader.h b/intern/audaspace/SRC/AUD_SRCResampleReader.h new file mode 100644 index 00000000000..1bacdb3965c --- /dev/null +++ b/intern/audaspace/SRC/AUD_SRCResampleReader.h @@ -0,0 +1,102 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SRCRESAMPLEREADER +#define AUD_SRCRESAMPLEREADER + +#include "AUD_EffectReader.h" +class AUD_Buffer; + +#include <samplerate.h> + +/** + * This class mixes a sound source with help of the SDL library. + * Unfortunately SDL is only capable of 8 and 16 bit audio, mono and stereo, as + * well as resampling only 2^n sample rate relationships where n is a natural + * number. + * \warning Although SDL can only resample 2^n sample rate relationships, this + * class doesn't check for compliance, so in case of other factors, + * the behaviour is undefined. + */ +class AUD_SRCResampleReader : public AUD_EffectReader +{ +private: + /** + * The resampling factor. + */ + double m_factor; + + /** + * The sound output buffer. + */ + AUD_Buffer *m_buffer; + + /** + * The target specification. + */ + AUD_Specs m_tspecs; + + /** + * The sample specification of the source. + */ + AUD_Specs m_sspecs; + + /** + * The src state structure. + */ + SRC_STATE* m_src; + +public: + /** + * Creates a resampling reader. + * \param reader The reader to mix. + * \param specs The target specification. + * \exception AUD_Exception Thrown if the source specification cannot be + * mixed to the target specification or if the reader is + * NULL. + */ + AUD_SRCResampleReader(AUD_IReader* reader, AUD_Specs specs); + + /** + * Destroys the reader. + */ + ~AUD_SRCResampleReader(); + + /** + * The callback function for SRC. + * \warning Do not call! + * \param data The pointer to the float data. + * \return The count of samples in the float data. + */ + long doCallback(float** data); + + virtual void seek(int position); + virtual int getLength(); + virtual int getPosition(); + virtual AUD_Specs getSpecs(); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_SRCRESAMPLEREADER diff --git a/intern/SoundSystem/openal/Makefile b/intern/audaspace/SRC/Makefile index b28ab628d4c..5cf5f55b11f 100644 --- a/intern/SoundSystem/openal/Makefile +++ b/intern/audaspace/SRC/Makefile @@ -28,17 +28,17 @@ # # -LIBNAME = OpenALSoundSystem -DIR = $(OCGDIR)/intern/$(LIBNAME) +LIBNAME = aud_src +DIR = $(OCGDIR)/intern/audaspace include nan_compile.mk CCFLAGS += $(LEVEL_1_CPP_WARNINGS) -CPPFLAGS += -I$(NAN_OPENAL)/include -CPPFLAGS += -I$(NAN_STRING)/include -CPPFLAGS += -I$(NAN_MOTO)/include +CPPFLAGS += -I$(LCGDIR)/samplerate/include/ +CPPFLAGS += -I../ffmpeg +CPPFLAGS += -I../FX +CPPFLAGS += -I../SDL CPPFLAGS += -I../intern CPPFLAGS += -I.. CPPFLAGS += -I. -CPPFLAGS += -I../sdl diff --git a/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.cpp b/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.cpp new file mode 100644 index 00000000000..f67c819ff10 --- /dev/null +++ b/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.cpp @@ -0,0 +1,65 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_FFMPEGFactory.h" +#include "AUD_FFMPEGReader.h" +#include "AUD_Buffer.h" + +AUD_FFMPEGFactory::AUD_FFMPEGFactory(const char* filename) +{ + if(filename != NULL) + { + m_filename = new char[strlen(filename)+1]; AUD_NEW("string") + strcpy(m_filename, filename); + } + else + m_filename = NULL; +} + +AUD_FFMPEGFactory::AUD_FFMPEGFactory(unsigned char* buffer, int size) +{ + m_filename = NULL; + m_buffer = AUD_Reference<AUD_Buffer>(new AUD_Buffer(size)); + memcpy(m_buffer.get()->getBuffer(), buffer, size); +} + +AUD_FFMPEGFactory::~AUD_FFMPEGFactory() +{ + if(m_filename) + { + delete[] m_filename; AUD_DELETE("string") + } +} + +AUD_IReader* AUD_FFMPEGFactory::createReader() +{ + AUD_IReader* reader; + if(m_filename) + reader = new AUD_FFMPEGReader(m_filename); + else + reader = new AUD_FFMPEGReader(m_buffer); + AUD_NEW("reader") + return reader; +} diff --git a/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.h b/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.h new file mode 100644 index 00000000000..22560303a73 --- /dev/null +++ b/intern/audaspace/ffmpeg/AUD_FFMPEGFactory.h @@ -0,0 +1,73 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_FFMPEGFACTORY +#define AUD_FFMPEGFACTORY + +#include "AUD_IFactory.h" +#include "AUD_Reference.h" +class AUD_Buffer; + +/** + * This factory reads a sound file via ffmpeg. + * \warning Notice that the needed formats and codecs have to be registered + * for ffmpeg before this class can be used. + */ +class AUD_FFMPEGFactory : public AUD_IFactory +{ +private: + /** + * The filename of the sound source file. + */ + char* m_filename; + + /** + * The buffer to read from. + */ + AUD_Reference<AUD_Buffer> m_buffer; + +public: + /** + * Creates a new factory. + * \param filename The sound file path. + */ + AUD_FFMPEGFactory(const char* filename); + + /** + * Creates a new factory. + * \param buffer The buffer to read from. + * \param size The size of the buffer. + */ + AUD_FFMPEGFactory(unsigned char* buffer, int size); + + /** + * Destroys the factory. + */ + ~AUD_FFMPEGFactory(); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_FFMPEGFACTORY diff --git a/intern/audaspace/ffmpeg/AUD_FFMPEGReader.cpp b/intern/audaspace/ffmpeg/AUD_FFMPEGReader.cpp new file mode 100644 index 00000000000..0384ba5e0e6 --- /dev/null +++ b/intern/audaspace/ffmpeg/AUD_FFMPEGReader.cpp @@ -0,0 +1,388 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +// needed for INT64_C +#define __STDC_CONSTANT_MACROS + +#include "AUD_FFMPEGReader.h" +#include "AUD_Buffer.h" + +extern "C" { +#include <libavcodec/avcodec.h> +#include <libavformat/avformat.h> +} + +// This function transforms a FFMPEG SampleFormat to our own sample format +static inline AUD_SampleFormat FFMPEG_TO_AUD(SampleFormat fmt) +{ + switch(fmt) + { + case SAMPLE_FMT_U8: + return AUD_FORMAT_U8; + case SAMPLE_FMT_S16: + return AUD_FORMAT_S16; + case SAMPLE_FMT_S32: + return AUD_FORMAT_S32; + case SAMPLE_FMT_FLT: + return AUD_FORMAT_FLOAT32; + case SAMPLE_FMT_DBL: + return AUD_FORMAT_FLOAT64; + default: + return AUD_FORMAT_INVALID; + } +} + +int AUD_FFMPEGReader::decode(AVPacket* packet, AUD_Buffer* buffer) +{ + // save packet parameters + uint8_t *audio_pkg_data = packet->data; + int audio_pkg_size = packet->size; + + int buf_size = buffer->getSize(); + int buf_pos = 0; + + int read_length, data_size; + + // as long as there is still data in the package + while(audio_pkg_size > 0) + { + // resize buffer if needed + if(buf_size - buf_pos < AVCODEC_MAX_AUDIO_FRAME_SIZE) + { + buffer->resize(buf_size + AVCODEC_MAX_AUDIO_FRAME_SIZE, true); + buf_size += AVCODEC_MAX_AUDIO_FRAME_SIZE; + } + + // read samples from the packet + data_size = buf_size - buf_pos; + /*read_length = avcodec_decode_audio3(m_codecCtx, + (int16_t*)(buffer->getBuffer()+buf_pos), + &data_size, + packet);*/ + read_length = avcodec_decode_audio2(m_codecCtx, + (int16_t*)(buffer->getBuffer()+buf_pos), + &data_size, + audio_pkg_data, + audio_pkg_size); + + buf_pos += data_size; + + // read error, next packet! + if(read_length < 0) + break; + + // move packet parameters + audio_pkg_data += read_length; + audio_pkg_size -= read_length; + } + + return buf_pos; +} + +AUD_FFMPEGReader::AUD_FFMPEGReader(const char* filename) +{ + m_position = 0; + m_pkgbuf_left = 0; + m_byteiocontext = NULL; + + // open file + if(av_open_input_file(&m_formatCtx, filename, NULL, 0, NULL)!=0) + AUD_THROW(AUD_ERROR_FILE); + + try + { + if(av_find_stream_info(m_formatCtx)<0) + AUD_THROW(AUD_ERROR_FFMPEG); + + // find audio stream and codec + m_stream = -1; + + for(unsigned int i = 0; i < m_formatCtx->nb_streams; i++) + if((m_formatCtx->streams[i]->codec->codec_type == CODEC_TYPE_AUDIO) + && (m_stream < 0)) + { + m_stream=i; + break; + } + if(m_stream == -1) + AUD_THROW(AUD_ERROR_FFMPEG); + + m_codecCtx = m_formatCtx->streams[m_stream]->codec; + + // get a decoder and open it + AVCodec *aCodec = avcodec_find_decoder(m_codecCtx->codec_id); + if(!aCodec) + AUD_THROW(AUD_ERROR_FFMPEG); + + if(avcodec_open(m_codecCtx, aCodec)<0) + AUD_THROW(AUD_ERROR_FFMPEG); + + // XXX this prints file information to stdout: + //dump_format(m_formatCtx, 0, filename, 0); + + m_specs.channels = (AUD_Channels) m_codecCtx->channels; + m_specs.format = FFMPEG_TO_AUD(m_codecCtx->sample_fmt); + m_specs.rate = (AUD_SampleRate) m_codecCtx->sample_rate; + } + catch(AUD_Exception) + { + av_close_input_file(m_formatCtx); + throw; + } + + // last but not least if there hasn't been any error, create the buffers + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") + m_pkgbuf = new AUD_Buffer(AVCODEC_MAX_AUDIO_FRAME_SIZE<<1); + AUD_NEW("buffer") +} + +AUD_FFMPEGReader::AUD_FFMPEGReader(AUD_Reference<AUD_Buffer> buffer) +{ + m_position = 0; + m_pkgbuf_left = 0; + m_byteiocontext = (ByteIOContext*)av_mallocz(sizeof(ByteIOContext)); + AUD_NEW("byteiocontext") + m_membuffer = buffer; + + if(init_put_byte(m_byteiocontext, buffer.get()->getBuffer(), buffer.get()->getSize(), 0, + NULL, NULL, NULL, NULL) != 0) + AUD_THROW(AUD_ERROR_FILE); + + AVProbeData probe_data; + probe_data.filename = ""; + probe_data.buf = buffer.get()->getBuffer(); + probe_data.buf_size = buffer.get()->getSize(); + AVInputFormat* fmt = av_probe_input_format(&probe_data, 1); + + // open stream + if(av_open_input_stream(&m_formatCtx, m_byteiocontext, "", fmt, NULL)!=0) + AUD_THROW(AUD_ERROR_FILE); + + try + { + if(av_find_stream_info(m_formatCtx)<0) + AUD_THROW(AUD_ERROR_FFMPEG); + + // find audio stream and codec + m_stream = -1; + + for(unsigned int i = 0; i < m_formatCtx->nb_streams; i++) + if((m_formatCtx->streams[i]->codec->codec_type == CODEC_TYPE_AUDIO) + && (m_stream < 0)) + { + m_stream=i; + break; + } + if(m_stream == -1) + AUD_THROW(AUD_ERROR_FFMPEG); + + m_codecCtx = m_formatCtx->streams[m_stream]->codec; + + // get a decoder and open it + AVCodec *aCodec = avcodec_find_decoder(m_codecCtx->codec_id); + if(!aCodec) + AUD_THROW(AUD_ERROR_FFMPEG); + + if(avcodec_open(m_codecCtx, aCodec)<0) + AUD_THROW(AUD_ERROR_FFMPEG); + + // XXX this prints stream information to stdout: + //dump_format(m_formatCtx, 0, NULL, 0); + + m_specs.channels = (AUD_Channels) m_codecCtx->channels; + m_specs.format = FFMPEG_TO_AUD(m_codecCtx->sample_fmt); + m_specs.rate = (AUD_SampleRate) m_codecCtx->sample_rate; + } + catch(AUD_Exception) + { + av_close_input_stream(m_formatCtx); + av_free(m_byteiocontext); AUD_DELETE("byteiocontext") + throw; + } + + // last but not least if there hasn't been any error, create the buffers + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") + m_pkgbuf = new AUD_Buffer(AVCODEC_MAX_AUDIO_FRAME_SIZE<<1); + AUD_NEW("buffer") +} + +AUD_FFMPEGReader::~AUD_FFMPEGReader() +{ + avcodec_close(m_codecCtx); + + if(m_byteiocontext) + { + av_close_input_stream(m_formatCtx); + av_free(m_byteiocontext); AUD_DELETE("byteiocontext") + } + else + av_close_input_file(m_formatCtx); + + delete m_buffer; AUD_DELETE("buffer") + delete m_pkgbuf; AUD_DELETE("buffer") +} + +bool AUD_FFMPEGReader::isSeekable() +{ + return true; +} + +void AUD_FFMPEGReader::seek(int position) +{ + if(position >= 0) + { + // a value < 0 tells us that seeking failed + if(av_seek_frame(m_formatCtx, + -1, + (uint64_t)(((uint64_t)position * + (uint64_t)AV_TIME_BASE) / + (uint64_t)m_specs.rate), + AVSEEK_FLAG_BACKWARD | AVSEEK_FLAG_ANY) >= 0) + { + avcodec_flush_buffers(m_codecCtx); + m_position = position; + + AVPacket packet; + bool search = true; + + while(search && av_read_frame(m_formatCtx, &packet) >= 0) + { + // is it a frame from the audio stream? + if(packet.stream_index == m_stream) + { + // decode the package + m_pkgbuf_left = decode(&packet, m_pkgbuf); + search = false; + + // check position + if(packet.pts != AV_NOPTS_VALUE) + { + // calculate real position, and read to frame! + m_position = packet.pts * + av_q2d(m_formatCtx->streams[m_stream]->time_base) * + m_specs.rate; + + if(m_position < position) + { + sample_t* buf; + int length = position - m_position; + read(length, buf); + } + } + } + av_free_packet(&packet); + } + } + else + { + // Seeking failed, do nothing. + } + } +} + +int AUD_FFMPEGReader::getLength() +{ + // return approximated remaning size + return (int)((m_formatCtx->duration * m_codecCtx->sample_rate) + / AV_TIME_BASE)-m_position; +} + +int AUD_FFMPEGReader::getPosition() +{ + return m_position; +} + +AUD_Specs AUD_FFMPEGReader::getSpecs() +{ + return m_specs; +} + +AUD_ReaderType AUD_FFMPEGReader::getType() +{ + return AUD_TYPE_STREAM; +} + +bool AUD_FFMPEGReader::notify(AUD_Message &message) +{ + return false; +} + +void AUD_FFMPEGReader::read(int & length, sample_t* & buffer) +{ + // read packages and decode them + AVPacket packet; + int data_size = 0; + int pkgbuf_pos; + int left = length; + int sample_size = AUD_SAMPLE_SIZE(m_specs); + + // resize output buffer if necessary + if(m_buffer->getSize() < length*sample_size) + m_buffer->resize(length*sample_size); + + buffer = m_buffer->getBuffer(); + pkgbuf_pos = m_pkgbuf_left; + m_pkgbuf_left = 0; + + // there may still be data in the buffer from the last call + if(pkgbuf_pos > 0) + { + data_size = AUD_MIN(pkgbuf_pos, left * sample_size); + memcpy(buffer, m_pkgbuf->getBuffer(), data_size); + buffer += data_size; + left -= data_size/sample_size; + } + + // for each frame read as long as there isn't enough data already + while((left > 0) && (av_read_frame(m_formatCtx, &packet) >= 0)) + { + // is it a frame from the audio stream? + if(packet.stream_index == m_stream) + { + // decode the package + pkgbuf_pos = decode(&packet, m_pkgbuf); + + // copy to output buffer + data_size = AUD_MIN(pkgbuf_pos, left * sample_size); + memcpy(buffer, m_pkgbuf->getBuffer(), data_size); + buffer += data_size; + left -= data_size/sample_size; + } + av_free_packet(&packet); + } + // read more data than necessary? + if(pkgbuf_pos > data_size) + { + m_pkgbuf_left = pkgbuf_pos-data_size; + memmove(m_pkgbuf->getBuffer(), m_pkgbuf->getBuffer()+data_size, + pkgbuf_pos-data_size); + } + + buffer = m_buffer->getBuffer(); + + if(left > 0) + length -= left; + m_position += length; +} diff --git a/intern/audaspace/ffmpeg/AUD_FFMPEGReader.h b/intern/audaspace/ffmpeg/AUD_FFMPEGReader.h new file mode 100644 index 00000000000..6e303934f36 --- /dev/null +++ b/intern/audaspace/ffmpeg/AUD_FFMPEGReader.h @@ -0,0 +1,139 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_FFMPEGREADER +#define AUD_FFMPEGREADER + +#include "AUD_IReader.h" +#include "AUD_Reference.h" +class AUD_Buffer; + +struct AVCodecContext; +extern "C" { +#include <libavformat/avformat.h> +} + +/** + * This class reads a sound file via ffmpeg. + * \warning Seeking may not be accurate! Moreover the position is updated after + * a buffer reading call. So calling getPosition right after seek + * normally results in a wrong value. + * \warning Playback of an ogg with some outdated ffmpeg versions results in a + * segfault on windows. + */ +class AUD_FFMPEGReader : public AUD_IReader +{ +private: + /** + * The current position in samples. + */ + int m_position; + + /** + * The playback buffer. + */ + AUD_Buffer *m_buffer; + + /** + * The specification of the audio data. + */ + AUD_Specs m_specs; + + /** + * The buffer for package reading. + */ + AUD_Buffer *m_pkgbuf; + + /** + * The count of samples still available from the last read package. + */ + int m_pkgbuf_left; + + /** + * The AVFormatContext structure for using ffmpeg. + */ + AVFormatContext* m_formatCtx; + + /** + * The AVCodecContext structure for using ffmpeg. + */ + AVCodecContext* m_codecCtx; + + /** + * The ByteIOContext to read the data from. + */ + ByteIOContext* m_byteiocontext; + + /** + * The stream ID in the file. + */ + int m_stream; + + /** + * The memory file to read from, only saved to keep the buffer alive. + */ + AUD_Reference<AUD_Buffer> m_membuffer; + + /** + * Decodes a packet into the given buffer. + * \param packet The AVPacket to decode. + * \param buffer The target buffer. + * \return The count of read bytes. + */ + int decode(AVPacket* packet, AUD_Buffer* buffer); + +public: + /** + * Creates a new reader. + * \param filename The path to the file to be read. + * \exception AUD_Exception Thrown if the file specified does not exist or + * cannot be read with ffmpeg. + */ + AUD_FFMPEGReader(const char* filename); + + /** + * Creates a new reader. + * \param buffer The buffer to read from. + * \exception AUD_Exception Thrown if the buffer specified cannot be read + * with ffmpeg. + */ + AUD_FFMPEGReader(AUD_Reference<AUD_Buffer> buffer); + + /** + * Destroys the reader and closes the file. + */ + virtual ~AUD_FFMPEGReader(); + + virtual bool isSeekable(); + virtual void seek(int position); + virtual int getLength(); + virtual int getPosition(); + virtual AUD_Specs getSpecs(); + virtual AUD_ReaderType getType(); + virtual bool notify(AUD_Message &message); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_FFMPEGREADER diff --git a/intern/SoundSystem/intern/Makefile b/intern/audaspace/ffmpeg/Makefile index 7684b6b0bca..492ac83f532 100644 --- a/intern/SoundSystem/intern/Makefile +++ b/intern/audaspace/ffmpeg/Makefile @@ -28,17 +28,14 @@ # # -LIBNAME = SoundSystem -DIR = $(OCGDIR)/intern/SoundSystem +LIBNAME = aud_ffmpeg +DIR = $(OCGDIR)/intern/audaspace include nan_compile.mk CCFLAGS += $(LEVEL_1_CPP_WARNINGS) -CPPFLAGS += -I$(NAN_STRING)/include -CPPFLAGS += -I$(NAN_MOTO)/include -CPPFLAGS += -I../../../source/blender/include -CPPFLAGS += -I../dummy -CPPFLAGS += -I../openal +CPPFLAGS += $(NAN_FFMPEGCFLAGS) +CPPFLAGS += -I../intern CPPFLAGS += -I.. CPPFLAGS += -I. diff --git a/intern/audaspace/intern/AUD_Buffer.cpp b/intern/audaspace/intern/AUD_Buffer.cpp new file mode 100644 index 00000000000..71deae0e87e --- /dev/null +++ b/intern/audaspace/intern/AUD_Buffer.cpp @@ -0,0 +1,67 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_Buffer.h" +#include "AUD_Space.h" + +#include <cstring> +#include <stdlib.h> + +#define AUD_ALIGN(a) (a + 16 - ((long)a & 15)) + +AUD_Buffer::AUD_Buffer(int size) +{ + m_size = size; + m_buffer = (sample_t*) malloc(size+16); AUD_NEW("buffer") +} + +AUD_Buffer::~AUD_Buffer() +{ + free(m_buffer); AUD_DELETE("buffer") +} + +sample_t* AUD_Buffer::getBuffer() +{ + return AUD_ALIGN(m_buffer); +} + +int AUD_Buffer::getSize() +{ + return m_size; +} + +void AUD_Buffer::resize(int size, bool keep) +{ + sample_t* buffer = (sample_t*) malloc(size+16); AUD_NEW("buffer") + + // copy old data over if wanted + if(keep) + memcpy(AUD_ALIGN(buffer), AUD_ALIGN(m_buffer), AUD_MIN(size, m_size)); + + free(m_buffer); AUD_DELETE("buffer") + + m_buffer = buffer; + m_size = size; +} diff --git a/intern/audaspace/intern/AUD_Buffer.h b/intern/audaspace/intern/AUD_Buffer.h new file mode 100644 index 00000000000..64959b03799 --- /dev/null +++ b/intern/audaspace/intern/AUD_Buffer.h @@ -0,0 +1,75 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_BUFFER +#define AUD_BUFFER + +#include "AUD_Space.h" + +/** + * This class is a simple buffer in RAM which is 16 Byte aligned and provides + * resize functionality. + */ +class AUD_Buffer +{ +private: + /// The size of the buffer in bytes. + int m_size; + + /// The pointer to the buffer memory. + sample_t* m_buffer; + +public: + /** + * Creates a new buffer. + * \param size The size of the buffer in bytes. + */ + AUD_Buffer(int size = 0); + + /** + * Destroys the buffer. + */ + ~AUD_Buffer(); + + /** + * Returns the pointer to the buffer in memory. + */ + sample_t* getBuffer(); + + /** + * Returns the size of the buffer in bytes. + */ + int getSize(); + + /** + * Resizes the buffer. + * \param size The new size of the buffer, measured in bytes. + * \param keep Whether to keep the old data. If the new buffer is smaller, + * the data at the end will be lost. + */ + void resize(int size, bool keep = false); +}; + +#endif //AUD_BUFFER diff --git a/intern/audaspace/intern/AUD_BufferReader.cpp b/intern/audaspace/intern/AUD_BufferReader.cpp new file mode 100644 index 00000000000..47bf5d3d171 --- /dev/null +++ b/intern/audaspace/intern/AUD_BufferReader.cpp @@ -0,0 +1,91 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_BufferReader.h" +#include "AUD_Buffer.h" +#include "AUD_Space.h" + +AUD_BufferReader::AUD_BufferReader(AUD_Reference<AUD_Buffer> buffer, + AUD_Specs specs) +{ + m_position = 0; + m_buffer = buffer; + m_specs = specs; +} + +bool AUD_BufferReader::isSeekable() +{ + return true; +} + +void AUD_BufferReader::seek(int position) +{ + if(position < 0) + m_position = 0; + else if(position > m_buffer.get()->getSize() / AUD_SAMPLE_SIZE(m_specs)) + m_position = m_buffer.get()->getSize() / AUD_SAMPLE_SIZE(m_specs); + else + m_position = position; +} + +int AUD_BufferReader::getLength() +{ + return m_buffer.get()->getSize()/AUD_SAMPLE_SIZE(m_specs); +} + +int AUD_BufferReader::getPosition() +{ + return m_position; +} + +AUD_Specs AUD_BufferReader::getSpecs() +{ + return m_specs; +} + +AUD_ReaderType AUD_BufferReader::getType() +{ + return AUD_TYPE_BUFFER; +} + +bool AUD_BufferReader::notify(AUD_Message &message) +{ + return false; +} + +void AUD_BufferReader::read(int & length, sample_t* & buffer) +{ + int sample_size = AUD_SAMPLE_SIZE(m_specs); + + buffer = m_buffer.get()->getBuffer()+m_position*sample_size; + + // in case the end of the buffer is reach + if(m_buffer.get()->getSize() < (m_position+length)*sample_size) + length = m_buffer.get()->getSize()/sample_size-m_position; + + if(length < 0) + length = 0; + m_position += length; +} diff --git a/intern/audaspace/intern/AUD_BufferReader.h b/intern/audaspace/intern/AUD_BufferReader.h new file mode 100644 index 00000000000..f2d8ff6b57d --- /dev/null +++ b/intern/audaspace/intern/AUD_BufferReader.h @@ -0,0 +1,74 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_BUFFERREADER +#define AUD_BUFFERREADER + +#include "AUD_IReader.h" +#include "AUD_Reference.h" +class AUD_Buffer; + +/** + * This class represents a simple reader from a buffer that exists in memory. + * \warning Notice that the buffer used for creating the reader must exist as + * long as the reader exists. + */ +class AUD_BufferReader : public AUD_IReader +{ +private: + /** + * The current position in the buffer. + */ + int m_position; + + /** + * The buffer that is read. + */ + AUD_Reference<AUD_Buffer> m_buffer; + + /** + * The specification of the sample data in the buffer. + */ + AUD_Specs m_specs; + +public: + /** + * Creates a new buffer reader. + * \param buffer The buffer to read from. + * \param specs The specification of the sample data in the buffer. + */ + AUD_BufferReader(AUD_Reference<AUD_Buffer> buffer, AUD_Specs specs); + + virtual bool isSeekable(); + virtual void seek(int position); + virtual int getLength(); + virtual int getPosition(); + virtual AUD_Specs getSpecs(); + virtual AUD_ReaderType getType(); + virtual bool notify(AUD_Message &message); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_BUFFERREADER diff --git a/intern/audaspace/intern/AUD_C-API.cpp b/intern/audaspace/intern/AUD_C-API.cpp new file mode 100644 index 00000000000..afa1568d6dc --- /dev/null +++ b/intern/audaspace/intern/AUD_C-API.cpp @@ -0,0 +1,579 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_NULLDevice.h" +#include "AUD_I3DDevice.h" +#include "AUD_FileFactory.h" +#include "AUD_StreamBufferFactory.h" +#include "AUD_DelayFactory.h" +#include "AUD_LimiterFactory.h" +#include "AUD_PingPongFactory.h" +#include "AUD_LoopFactory.h" +#include "AUD_ReadDevice.h" +#include "AUD_SourceCaps.h" +#include "AUD_IReader.h" + +#ifdef WITH_SDL +#include "AUD_SDLDevice.h" +#include "AUD_FloatMixer.h" +#endif + +#ifdef WITH_OPENAL +#include "AUD_OpenALDevice.h" +#endif + +#ifdef WITH_JACK +#include "AUD_JackDevice.h" +#endif + +#ifdef WITH_FFMPEG +extern "C" { +#include <libavformat/avformat.h> +} +#endif + +#include <assert.h> + +typedef AUD_IFactory AUD_Sound; +typedef AUD_ReadDevice AUD_Device; + +#define AUD_CAPI_IMPLEMENTATION +#include "AUD_C-API.h" + +#ifndef NULL +#define NULL 0 +#endif + +static AUD_IDevice* AUD_device = NULL; +static int AUD_available_devices[4]; +static AUD_I3DDevice* AUD_3ddevice = NULL; + +int AUD_init(AUD_DeviceType device, AUD_Specs specs, int buffersize) +{ +#ifdef WITH_FFMPEG + av_register_all(); +#endif + AUD_IDevice* dev = NULL; + + if(AUD_device) + AUD_exit(); + + try + { + switch(device) + { + case AUD_NULL_DEVICE: + dev = new AUD_NULLDevice(); + break; +#ifdef WITH_SDL + case AUD_SDL_DEVICE: + { + dev = new AUD_SDLDevice(specs, buffersize); + AUD_FloatMixer* mixer = new AUD_FloatMixer(); + ((AUD_SDLDevice*)dev)->setMixer(mixer); + break; + } +#endif +#ifdef WITH_OPENAL + case AUD_OPENAL_DEVICE: + dev = new AUD_OpenALDevice(specs, buffersize); + break; +#endif +#ifdef WITH_JACK + case AUD_JACK_DEVICE: + dev = new AUD_JackDevice(specs); + break; +#endif + default: + return false; + } + + AUD_device = dev; + if(AUD_device->checkCapability(AUD_CAPS_3D_DEVICE)) + AUD_3ddevice = dynamic_cast<AUD_I3DDevice*>(AUD_device); + + return true; + } + catch(AUD_Exception) + { + return false; + } +} + +int* AUD_enumDevices() +{ + int i = 0; +#ifdef WITH_SDL + AUD_available_devices[i++] = AUD_SDL_DEVICE; +#endif +#ifdef WITH_OPENAL + AUD_available_devices[i++] = AUD_OPENAL_DEVICE; +#endif +#ifdef WITH_JACK + AUD_available_devices[i++] = AUD_JACK_DEVICE; +#endif + AUD_available_devices[i++] = AUD_NULL_DEVICE; + return AUD_available_devices; +} + +void AUD_exit() +{ + if(AUD_device) + { + delete AUD_device; + AUD_device = NULL; + AUD_3ddevice = NULL; + } +} + +void AUD_lock() +{ + assert(AUD_device); + AUD_device->lock(); +} + +void AUD_unlock() +{ + assert(AUD_device); + AUD_device->unlock(); +} + +AUD_SoundInfo AUD_getInfo(AUD_Sound* sound) +{ + assert(sound); + + AUD_IReader* reader = sound->createReader(); + + AUD_SoundInfo info; + + if(reader) + { + info.specs = reader->getSpecs(); + info.length = reader->getLength() / (float) info.specs.rate; + } + else + { + info.specs.channels = AUD_CHANNELS_INVALID; + info.specs.format = AUD_FORMAT_INVALID; + info.specs.rate = AUD_RATE_INVALID; + info.length = 0.0; + } + + return info; +} + +AUD_Sound* AUD_load(const char* filename) +{ + assert(filename); + return new AUD_FileFactory(filename); +} + +AUD_Sound* AUD_loadBuffer(unsigned char* buffer, int size) +{ + assert(buffer); + return new AUD_FileFactory(buffer, size); +} + +AUD_Sound* AUD_bufferSound(AUD_Sound* sound) +{ + assert(sound); + + try + { + return new AUD_StreamBufferFactory(sound); + } + catch(AUD_Exception) + { + return NULL; + } +} + +AUD_Sound* AUD_delaySound(AUD_Sound* sound, float delay) +{ + assert(sound); + + try + { + return new AUD_DelayFactory(sound, delay); + } + catch(AUD_Exception) + { + return NULL; + } +} + +extern AUD_Sound* AUD_limitSound(AUD_Sound* sound, float start, float end) +{ + assert(sound); + + try + { + return new AUD_LimiterFactory(sound, start, end); + } + catch(AUD_Exception) + { + return NULL; + } +} + +AUD_Sound* AUD_pingpongSound(AUD_Sound* sound) +{ + assert(sound); + + try + { + return new AUD_PingPongFactory(sound); + } + catch(AUD_Exception) + { + return NULL; + } +} + +AUD_Sound* AUD_loopSound(AUD_Sound* sound) +{ + assert(sound); + + try + { + return new AUD_LoopFactory(sound); + } + catch(AUD_Exception) + { + return NULL; + } +} + +int AUD_stopLoop(AUD_Handle* handle) +{ + if(handle) + { + AUD_Message message; + message.type = AUD_MSG_LOOP; + message.loopcount = 0; + + try + { + return AUD_device->sendMessage(handle, message); + } + catch(AUD_Exception) + { + } + } + return false; +} + +void AUD_unload(AUD_Sound* sound) +{ + assert(sound); + delete sound; +} + +AUD_Handle* AUD_play(AUD_Sound* sound, int keep) +{ + assert(AUD_device); + assert(sound); + try + { + return AUD_device->play(sound, keep); + } + catch(AUD_Exception) + { + return NULL; + } +} + +int AUD_pause(AUD_Handle* handle) +{ + assert(AUD_device); + return AUD_device->pause(handle); +} + +int AUD_resume(AUD_Handle* handle) +{ + assert(AUD_device); + return AUD_device->resume(handle); +} + +int AUD_stop(AUD_Handle* handle) +{ + if(AUD_device) + return AUD_device->stop(handle); + return false; +} + +int AUD_setKeep(AUD_Handle* handle, int keep) +{ + assert(AUD_device); + return AUD_device->setKeep(handle, keep); +} + +int AUD_seek(AUD_Handle* handle, float seekTo) +{ + assert(AUD_device); + return AUD_device->seek(handle, seekTo); +} + +float AUD_getPosition(AUD_Handle* handle) +{ + assert(AUD_device); + return AUD_device->getPosition(handle); +} + +AUD_Status AUD_getStatus(AUD_Handle* handle) +{ + assert(AUD_device); + return AUD_device->getStatus(handle); +} + +AUD_Handle* AUD_play3D(AUD_Sound* sound, int keep) +{ + assert(AUD_device); + assert(sound); + + try + { + if(AUD_3ddevice) + return AUD_3ddevice->play3D(sound, keep); + else + return AUD_device->play(sound, keep); + } + catch(AUD_Exception) + { + return NULL; + } +} + +int AUD_updateListener(AUD_3DData* data) +{ + assert(AUD_device); + assert(data); + + try + { + if(AUD_3ddevice) + return AUD_3ddevice->updateListener(*data); + } + catch(AUD_Exception) + { + } + return false; +} + +int AUD_set3DSetting(AUD_3DSetting setting, float value) +{ + assert(AUD_device); + + try + { + if(AUD_3ddevice) + return AUD_3ddevice->setSetting(setting, value); + } + catch(AUD_Exception) + { + } + return false; +} + +float AUD_get3DSetting(AUD_3DSetting setting) +{ + assert(AUD_device); + + try + { + if(AUD_3ddevice) + return AUD_3ddevice->getSetting(setting); + } + catch(AUD_Exception) + { + } + return 0.0; +} + +int AUD_update3DSource(AUD_Handle* handle, AUD_3DData* data) +{ + if(handle) + { + assert(AUD_device); + assert(data); + + try + { + if(AUD_3ddevice) + return AUD_3ddevice->updateSource(handle, *data); + } + catch(AUD_Exception) + { + } + } + return false; +} + +int AUD_set3DSourceSetting(AUD_Handle* handle, + AUD_3DSourceSetting setting, float value) +{ + if(handle) + { + assert(AUD_device); + + try + { + if(AUD_3ddevice) + return AUD_3ddevice->setSourceSetting(handle, setting, value); + } + catch(AUD_Exception) + { + } + } + return false; +} + +float AUD_get3DSourceSetting(AUD_Handle* handle, AUD_3DSourceSetting setting) +{ + if(handle) + { + assert(AUD_device); + + try + { + if(AUD_3ddevice) + return AUD_3ddevice->getSourceSetting(handle, setting); + } + catch(AUD_Exception) + { + } + } + return 0.0; +} + +int AUD_setSoundVolume(AUD_Handle* handle, float volume) +{ + if(handle) + { + assert(AUD_device); + AUD_SourceCaps caps; + caps.handle = handle; + caps.value = volume; + + try + { + return AUD_device->setCapability(AUD_CAPS_SOURCE_VOLUME, &caps); + } + catch(AUD_Exception) {} + } + return false; +} + +int AUD_setSoundPitch(AUD_Handle* handle, float pitch) +{ + if(handle) + { + assert(AUD_device); + AUD_SourceCaps caps; + caps.handle = handle; + caps.value = pitch; + + try + { + return AUD_device->setCapability(AUD_CAPS_SOURCE_PITCH, &caps); + } + catch(AUD_Exception) {} + } + return false; +} + +AUD_Device* AUD_openReadDevice(AUD_Specs specs) +{ + try + { + return new AUD_ReadDevice(specs); + } + catch(AUD_Exception) + { + return NULL; + } +} + +AUD_Handle* AUD_playDevice(AUD_Device* device, AUD_Sound* sound) +{ + assert(device); + assert(sound); + + try + { + return device->play(sound); + } + catch(AUD_Exception) + { + return NULL; + } +} + +int AUD_setDeviceSoundVolume(AUD_Device* device, AUD_Handle* handle, + float volume) +{ + if(handle) + { + assert(device); + AUD_SourceCaps caps; + caps.handle = handle; + caps.value = volume; + + try + { + return device->setCapability(AUD_CAPS_SOURCE_VOLUME, &caps); + } + catch(AUD_Exception) {} + } + return false; +} + +int AUD_readDevice(AUD_Device* device, sample_t* buffer, int length) +{ + assert(device); + assert(buffer); + + try + { + return device->read(buffer, length); + } + catch(AUD_Exception) + { + return false; + } +} + +void AUD_closeReadDevice(AUD_Device* device) +{ + assert(device); + + try + { + delete device; + } + catch(AUD_Exception) + { + } +} diff --git a/intern/audaspace/intern/AUD_C-API.h b/intern/audaspace/intern/AUD_C-API.h new file mode 100644 index 00000000000..b02b465bff2 --- /dev/null +++ b/intern/audaspace/intern/AUD_C-API.h @@ -0,0 +1,342 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_CAPI +#define AUD_CAPI + +#ifdef __cplusplus +extern "C" { +#endif + +#include "AUD_Space.h" + +typedef enum +{ + AUD_NULL_DEVICE = 0, + AUD_SDL_DEVICE, + AUD_OPENAL_DEVICE, + AUD_JACK_DEVICE +} AUD_DeviceType; + +typedef struct +{ + AUD_Specs specs; + float length; +} AUD_SoundInfo; + +#ifndef AUD_CAPI_IMPLEMENTATION + typedef void AUD_Sound; + typedef void AUD_Handle; + typedef void AUD_Device; +#endif + +/** + * Initializes an audio device. + * \param device The device type that should be used. + * \param specs The audio specification to be used. + * \param buffersize The buffersize for the device. + * \return Whether the device has been initialized. + */ +extern int AUD_init(AUD_DeviceType device, AUD_Specs specs, int buffersize); + +/** + * Returns a integer list with available sound devices. The last one is always + * AUD_NULL_DEVICE. + */ +extern int* AUD_enumDevices(); + +/** + * Unitinitializes an audio device. + */ +extern void AUD_exit(); + +/** + * Locks the playback device. + */ +extern void AUD_lock(); + +/** + * Unlocks the device. + */ +extern void AUD_unlock(); + +/** + * Returns information about a sound. + * \param sound The sound to get the info about. + * \return The AUD_SoundInfo structure with filled in data. + */ +extern AUD_SoundInfo AUD_getInfo(AUD_Sound* sound); + +/** + * Loads a sound file. + * \param filename The filename of the sound file. + * \return A handle of the sound file. + */ +extern AUD_Sound* AUD_load(const char* filename); + +/** + * Loads a sound file. + * \param buffer The buffer which contains the sound file. + * \param size The size of the buffer. + * \return A handle of the sound file. + */ +extern AUD_Sound* AUD_loadBuffer(unsigned char* buffer, int size); + +/** + * Buffers a sound. + * \param sound The sound to buffer. + * \return A handle of the sound buffer. + */ +extern AUD_Sound* AUD_bufferSound(AUD_Sound* sound); + +/** + * Delays a sound. + * \param sound The sound to dealy. + * \param delay The delay in seconds. + * \return A handle of the delayed sound. + */ +extern AUD_Sound* AUD_delaySound(AUD_Sound* sound, float delay); + +/** + * Limits a sound. + * \param sound The sound to limit. + * \param start The start time in seconds. + * \param end The stop time in seconds. + * \return A handle of the limited sound. + */ +extern AUD_Sound* AUD_limitSound(AUD_Sound* sound, float start, float end); + +/** + * Ping pongs a sound. + * \param sound The sound to ping pong. + * \return A handle of the ping pong sound. + */ +extern AUD_Sound* AUD_pingpongSound(AUD_Sound* sound); + +/** + * Loops a sound. + * \param sound The sound to loop. + * \return A handle of the looped sound. + */ +extern AUD_Sound* AUD_loopSound(AUD_Sound* sound); + +/** + * Stops a looping sound when the current playback finishes. + * \param handle The playback handle. + * \return Whether the handle is valid. + */ +extern int AUD_stopLoop(AUD_Handle* handle); + +/** + * Unloads a sound of any type. + * \param sound The handle of the sound. + */ +extern void AUD_unload(AUD_Sound* sound); + +/** + * Plays back a sound file. + * \param sound The handle of the sound file. + * \param keep When keep is true the sound source will not be deleted but set to + * paused when its end has been reached. + * \return A handle to the played back sound. + */ +extern AUD_Handle* AUD_play(AUD_Sound* sound, int keep); + +/** + * Pauses a played back sound. + * \param handle The handle to the sound. + * \return Whether the handle has been playing or not. + */ +extern int AUD_pause(AUD_Handle* handle); + +/** + * Resumes a paused sound. + * \param handle The handle to the sound. + * \return Whether the handle has been paused or not. + */ +extern int AUD_resume(AUD_Handle* handle); + +/** + * Stops a playing or paused sound. + * \param handle The handle to the sound. + * \return Whether the handle has been valid or not. + */ +extern int AUD_stop(AUD_Handle* handle); + +/** + * Sets the end behaviour of a playing or paused sound. + * \param handle The handle to the sound. + * \param keep When keep is true the sound source will not be deleted but set to + * paused when its end has been reached. + * \return Whether the handle has been valid or not. + */ +extern int AUD_setKeep(AUD_Handle* handle, int keep); + +/** + * Seeks a playing or paused sound. + * \param handle The handle to the sound. + * \param seekTo From where the sound file should be played back in seconds. + * \return Whether the handle has been valid or not. + */ +extern int AUD_seek(AUD_Handle* handle, float seekTo); + +/** + * Retrieves the playback position of a handle. + * \return The current playback position in seconds or 0.0 if the handle is + * invalid. + */ +extern float AUD_getPosition(AUD_Handle* handle); + +/** + * Returns the status of a playing, paused or stopped sound. + * \param handle The handle to the sound. + * \return The status of the sound behind the handle. + */ +extern AUD_Status AUD_getStatus(AUD_Handle* handle); + +/** + * Plays a 3D sound. + * \param sound The handle of the sound file. + * \param keep When keep is true the sound source will not be deleted but set to + * paused when its end has been reached. + * \return A handle to the played back sound. + * \note The factory must provide a mono (single channel) source and the device + * must support 3D audio, otherwise the sound is played back normally. + */ +extern AUD_Handle* AUD_play3D(AUD_Sound* sound, int keep); + +/** + * Updates the listener 3D data. + * \param data The 3D data. + * \return Whether the action succeeded. + */ +extern int AUD_updateListener(AUD_3DData* data); + +/** + * Sets a 3D device setting. + * \param setting The setting type. + * \param value The new setting value. + * \return Whether the action succeeded. + */ +extern int AUD_set3DSetting(AUD_3DSetting setting, float value); + +/** + * Retrieves a 3D device setting. + * \param setting The setting type. + * \return The setting value. + */ +extern float AUD_get3DSetting(AUD_3DSetting setting); + +/** + * Updates a listeners 3D data. + * \param handle The source handle. + * \param data The 3D data. + * \return Whether the action succeeded. + */ +extern int AUD_update3DSource(AUD_Handle* handle, AUD_3DData* data); + +/** + * Sets a 3D source setting. + * \param handle The source handle. + * \param setting The setting type. + * \param value The new setting value. + * \return Whether the action succeeded. + */ +extern int AUD_set3DSourceSetting(AUD_Handle* handle, + AUD_3DSourceSetting setting, float value); + +/** + * Retrieves a 3D source setting. + * \param handle The source handle. + * \param setting The setting type. + * \return The setting value. + */ +extern float AUD_get3DSourceSetting(AUD_Handle* handle, + AUD_3DSourceSetting setting); + +/** + * Sets the volume of a played back sound. + * \param handle The handle to the sound. + * \param volume The new volume, must be between 0.0 and 1.0. + * \return Whether the action succeeded. + */ +extern int AUD_setSoundVolume(AUD_Handle* handle, float volume); + +/** + * Sets the pitch of a played back sound. + * \param handle The handle to the sound. + * \param pitch The new pitch. + * \return Whether the action succeeded. + */ +extern int AUD_setSoundPitch(AUD_Handle* handle, float pitch); + +/** + * Opens a read device, with which audio data can be read. + * \param specs The specification of the audio data. + * \return A device handle. + */ +extern AUD_Device* AUD_openReadDevice(AUD_Specs specs); + +/** + * Plays back a sound file through a read device. + * \param device The read device. + * \param sound The handle of the sound file. + * \return A handle to the played back sound. + */ +extern AUD_Handle* AUD_playDevice(AUD_Device* device, AUD_Sound* sound); + +/** + * Sets the volume of a played back sound of a read device. + * \param device The read device. + * \param handle The handle to the sound. + * \param volume The new volume, must be between 0.0 and 1.0. + * \return Whether the action succeeded. + */ +extern int AUD_setDeviceSoundVolume(AUD_Device* device, + AUD_Handle* handle, + float volume); + +/** + * Reads the next samples into the supplied buffer. + * \param device The read device. + * \param buffer The target buffer. + * \param length The length in samples to be filled. + * \return True if the reading succeeded, false if there are no sounds + * played back currently, in that case the buffer is filled with + * silence. + */ +extern int AUD_readDevice(AUD_Device* device, sample_t* buffer, int length); + +/** + * Closes a read device. + * \param device The read device. + */ +extern void AUD_closeReadDevice(AUD_Device* device); + +#ifdef __cplusplus +} +#endif + +#endif //AUD_CAPI diff --git a/intern/audaspace/intern/AUD_ChannelMapperFactory.cpp b/intern/audaspace/intern/AUD_ChannelMapperFactory.cpp new file mode 100644 index 00000000000..66205a58015 --- /dev/null +++ b/intern/audaspace/intern/AUD_ChannelMapperFactory.cpp @@ -0,0 +1,125 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_ChannelMapperFactory.h" +#include "AUD_ChannelMapperReader.h" + +#include <cstring> + +AUD_ChannelMapperFactory::AUD_ChannelMapperFactory(AUD_IReader* reader, + AUD_Specs specs) : + AUD_MixerFactory(reader, specs) +{ + memset(m_mapping, 0, sizeof(m_mapping)); +} + +AUD_ChannelMapperFactory::AUD_ChannelMapperFactory(AUD_IFactory* factory, + AUD_Specs specs) : + AUD_MixerFactory(factory, specs) +{ + memset(m_mapping, 0, sizeof(m_mapping)); +} + +AUD_ChannelMapperFactory::AUD_ChannelMapperFactory(AUD_Specs specs) : + AUD_MixerFactory(specs) +{ + memset(m_mapping, 0, sizeof(m_mapping)); +} + +AUD_ChannelMapperFactory::~AUD_ChannelMapperFactory() +{ + for(int i = 1; i < 10; i++) + deleteMapping(i); +} + +float** AUD_ChannelMapperFactory::getMapping(int ic) +{ + ic--; + if(ic > 8 || ic < 0) + return 0; + + if(m_mapping[ic]) + { + int channels = -1; + while(m_mapping[ic][++channels] != 0); + if(channels != m_specs.channels) + deleteMapping(ic+1); + } + + if(!m_mapping[ic]) + { + int channels = m_specs.channels; + + m_mapping[ic] = new float*[channels+1]; AUD_NEW("mapping") + m_mapping[ic][channels] = 0; + + for(int i = 0; i < channels; i++) + { + m_mapping[ic][i] = new float[ic+1]; AUD_NEW("mapping") + for(int j = 0; j <= ic; j++) + m_mapping[ic][i][j] = ((i == j) || (channels == 1) || + (ic == 0)) ? 1.0f : 0.0f; + } + } + + return m_mapping[ic]; +} + +void AUD_ChannelMapperFactory::deleteMapping(int ic) +{ + ic--; + if(ic > 8 || ic < 0) + return; + + if(m_mapping[ic]) + { + for(int i = 0; 1; i++) + { + if(m_mapping[ic][i] != 0) + { + delete[] m_mapping[ic][i]; AUD_DELETE("mapping") + } + else + break; + } + delete[] m_mapping[ic]; AUD_DELETE("mapping") + m_mapping[ic] = 0; + } +} + +AUD_IReader* AUD_ChannelMapperFactory::createReader() +{ + AUD_IReader* reader = getReader(); + + if(reader != 0) + { + int ic = reader->getSpecs().channels; + + reader = new AUD_ChannelMapperReader(reader, getMapping(ic)); + AUD_NEW("reader") + } + + return reader; +} diff --git a/intern/audaspace/intern/AUD_ChannelMapperFactory.h b/intern/audaspace/intern/AUD_ChannelMapperFactory.h new file mode 100644 index 00000000000..c2c39f4bdf6 --- /dev/null +++ b/intern/audaspace/intern/AUD_ChannelMapperFactory.h @@ -0,0 +1,65 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_CHANNELMAPPERFACTORY +#define AUD_CHANNELMAPPERFACTORY + +#include "AUD_MixerFactory.h" + +/** + * This factory creates a reader that maps a sound source's channels to a + * specific output channel count. + */ +class AUD_ChannelMapperFactory : public AUD_MixerFactory +{ +private: + /** + * The mapping specification. + */ + float **m_mapping[9]; + +public: + AUD_ChannelMapperFactory(AUD_IReader* reader, AUD_Specs specs); + AUD_ChannelMapperFactory(AUD_IFactory* factory, AUD_Specs specs); + AUD_ChannelMapperFactory(AUD_Specs specs); + + virtual ~AUD_ChannelMapperFactory(); + + /** + * Returns the mapping array for editing. + * \param ic The count of input channels the array should have. + * \note The count of output channels is read of the desired output specs. + */ + float** getMapping(int ic); + + /** + * Deletes the current channel mapping. + */ + void deleteMapping(int ic); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_CHANNELMAPPERFACTORY diff --git a/intern/audaspace/intern/AUD_ChannelMapperReader.cpp b/intern/audaspace/intern/AUD_ChannelMapperReader.cpp new file mode 100644 index 00000000000..61f97c08a8e --- /dev/null +++ b/intern/audaspace/intern/AUD_ChannelMapperReader.cpp @@ -0,0 +1,108 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_ChannelMapperReader.h" +#include "AUD_Buffer.h" + +AUD_ChannelMapperReader::AUD_ChannelMapperReader(AUD_IReader* reader, + float **mapping) : + AUD_EffectReader(reader) +{ + m_specs = reader->getSpecs(); + + if(m_specs.format != AUD_FORMAT_FLOAT32) + { + delete m_reader; AUD_DELETE("reader") + AUD_THROW(AUD_ERROR_READER); + } + + int channels = -1; + m_rch = m_specs.channels; + while(mapping[++channels] != 0); + + m_mapping = new float*[channels]; AUD_NEW("mapping") + m_specs.channels = (AUD_Channels)channels; + + float sum; + int i; + + while(channels--) + { + m_mapping[channels] = new float[m_rch]; AUD_NEW("mapping") + sum = 0.0f; + for(i=0; i < m_rch; i++) + sum += mapping[channels][i]; + for(i=0; i < m_rch; i++) + m_mapping[channels][i] = sum > 0.0 ? mapping[channels][i]/sum : 0.0; + } + + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") +} + +AUD_ChannelMapperReader::~AUD_ChannelMapperReader() +{ + int channels = m_specs.channels; + + while(channels--) + { + delete[] m_mapping[channels]; AUD_DELETE("mapping") + } + + delete[] m_mapping; AUD_DELETE("mapping") + + delete m_buffer; AUD_DELETE("buffer") +} + +AUD_Specs AUD_ChannelMapperReader::getSpecs() +{ + return m_specs; +} + +void AUD_ChannelMapperReader::read(int & length, sample_t* & buffer) +{ + m_reader->read(length, buffer); + + int channels = m_specs.channels; + + if(m_buffer->getSize() < length * 4 * channels) + m_buffer->resize(length * 4 * channels); + + float* in = (float*)buffer; + float* out = (float*)m_buffer->getBuffer(); + float sum; + + for(int i = 0; i < length; i++) + { + for(int j = 0; j < channels; j++) + { + sum = 0; + for(int k = 0; k < m_rch; k++) + sum += m_mapping[j][k] * in[i * m_rch + k]; + out[i * channels + j] = sum; + } + } + + buffer = m_buffer->getBuffer(); +} diff --git a/intern/audaspace/intern/AUD_ChannelMapperReader.h b/intern/audaspace/intern/AUD_ChannelMapperReader.h new file mode 100644 index 00000000000..fe79ab6edd6 --- /dev/null +++ b/intern/audaspace/intern/AUD_ChannelMapperReader.h @@ -0,0 +1,76 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_CHANNELMAPPERREADER +#define AUD_CHANNELMAPPERREADER + +#include "AUD_EffectReader.h" +class AUD_Buffer; + +/** + * This class maps a sound source's channels to a specific output channel count. + * \note The input sample format must be float. + */ +class AUD_ChannelMapperReader : public AUD_EffectReader +{ +private: + /** + * The sound output buffer. + */ + AUD_Buffer *m_buffer; + + /** + * The output specification. + */ + AUD_Specs m_specs; + + /** + * The channel count of the reader. + */ + int m_rch; + + /** + * The mapping specification. + */ + float **m_mapping; + +public: + /** + * Creates a channel mapper reader. + * \param reader The reader to map. + * \param mapping The mapping specification as two dimensional float array. + * \exception AUD_Exception Thrown if the reader is NULL. + */ + AUD_ChannelMapperReader(AUD_IReader* reader, float **mapping); + /** + * Destroys the reader. + */ + ~AUD_ChannelMapperReader(); + + virtual AUD_Specs getSpecs(); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_CHANNELMAPPERREADER diff --git a/intern/audaspace/intern/AUD_ConverterFactory.cpp b/intern/audaspace/intern/AUD_ConverterFactory.cpp new file mode 100644 index 00000000000..a1a86662072 --- /dev/null +++ b/intern/audaspace/intern/AUD_ConverterFactory.cpp @@ -0,0 +1,54 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_ConverterFactory.h" +#include "AUD_ConverterReader.h" + +AUD_ConverterFactory::AUD_ConverterFactory(AUD_IReader* reader, + AUD_Specs specs) : + AUD_MixerFactory(reader, specs) {} + +AUD_ConverterFactory::AUD_ConverterFactory(AUD_IFactory* factory, + AUD_Specs specs) : + AUD_MixerFactory(factory, specs) {} + +AUD_ConverterFactory::AUD_ConverterFactory(AUD_Specs specs) : + AUD_MixerFactory(specs) {} + +AUD_IReader* AUD_ConverterFactory::createReader() +{ + AUD_IReader* reader = getReader(); + + if(reader != 0) + { + if(reader->getSpecs().format != m_specs.format) + { + reader = new AUD_ConverterReader(reader, m_specs); + AUD_NEW("reader") + } + } + + return reader; +} diff --git a/intern/audaspace/intern/AUD_ConverterFactory.h b/intern/audaspace/intern/AUD_ConverterFactory.h new file mode 100644 index 00000000000..3778e8d8f03 --- /dev/null +++ b/intern/audaspace/intern/AUD_ConverterFactory.h @@ -0,0 +1,45 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_CONVERTERFACTORY +#define AUD_CONVERTERFACTORY + +#include "AUD_MixerFactory.h" + +/** + * This factory creates a converter reader that is able to convert from one + * audio format to another. + */ +class AUD_ConverterFactory : public AUD_MixerFactory +{ +public: + AUD_ConverterFactory(AUD_IReader* reader, AUD_Specs specs); + AUD_ConverterFactory(AUD_IFactory* factory, AUD_Specs specs); + AUD_ConverterFactory(AUD_Specs specs); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_CONVERTERFACTORY diff --git a/intern/audaspace/intern/AUD_ConverterFunctions.cpp b/intern/audaspace/intern/AUD_ConverterFunctions.cpp new file mode 100644 index 00000000000..b6d5dffa1a2 --- /dev/null +++ b/intern/audaspace/intern/AUD_ConverterFunctions.cpp @@ -0,0 +1,502 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_ConverterFunctions.h" +#include "AUD_Buffer.h" + +#define AUD_U8_0 0x80 +#define AUD_S16_MAX 0x7FFF +#define AUD_S16_MIN 0x8000 +#define AUD_S16_FLT 32768.0 +#define AUD_S32_MAX 0x7FFFFFFF +#define AUD_S32_MIN 0x80000000 +#define AUD_S32_FLT 2147483648.0 +#define AUD_FLT_MAX 1.0 +#define AUD_FLT_MIN -1.0 + +void AUD_convert_u8_s16(sample_t* target, sample_t* source, int length) +{ + int16_t* t = (int16_t*) target; + for(int i = 0; i < length; i++) + t[i] = (((int16_t)source[i]) - AUD_U8_0) << 8; +} + +void AUD_convert_u8_s24_be(sample_t* target, sample_t* source, int length) +{ + for(int i = 0; i < length; i++) + { + target[i*3] = source[i] - AUD_U8_0; + target[i*3+1] = 0; + target[i*3+2] = 0; + } +} + +void AUD_convert_u8_s24_le(sample_t* target, sample_t* source, int length) +{ + for(int i = 0; i < length; i++) + { + target[i*3+2] = source[i] - AUD_U8_0; + target[i*3+1] = 0; + target[i*3] = 0; + } +} + +void AUD_convert_u8_s32(sample_t* target, sample_t* source, int length) +{ + int32_t* t = (int32_t*) target; + for(int i = 0; i < length; i++) + t[i] = (((int32_t)source[i]) - AUD_U8_0) << 24; +} + +void AUD_convert_u8_float(sample_t* target, sample_t* source, int length) +{ + float* t = (float*) target; + for(int i = 0; i < length; i++) + t[i] = (((int32_t)source[i]) - AUD_U8_0) / ((float)AUD_U8_0); +} + +void AUD_convert_u8_double(sample_t* target, sample_t* source, int length) +{ + double* t = (double*) target; + for(int i = 0; i < length; i++) + t[i] = (((int32_t)source[i]) - AUD_U8_0) / ((double)AUD_U8_0); +} + +void AUD_convert_s16_u8(sample_t* target, sample_t* source, int length) +{ + int16_t* s = (int16_t*) source; + for(int i = 0; i < length; i++) + target[i] = (unsigned char)((s[i] >> 8) + AUD_U8_0); +} + +void AUD_convert_s16_s24_be(sample_t* target, sample_t* source, int length) +{ + int16_t* s = (int16_t*) source; + for(int i = 0; i < length; i++) + { + target[i*3] = s[i] >> 8 & 0xFF; + target[i*3+1] = s[i] & 0xFF; + target[i*3+2] = 0; + } +} + +void AUD_convert_s16_s24_le(sample_t* target, sample_t* source, int length) +{ + int16_t* s = (int16_t*) source; + for(int i = 0; i < length; i++) + { + target[i*3+2] = s[i] >> 8 & 0xFF; + target[i*3+1] = s[i] & 0xFF; + target[i*3] = 0; + } +} + +void AUD_convert_s16_s32(sample_t* target, sample_t* source, int length) +{ + int16_t* s = (int16_t*) source; + int32_t* t = (int32_t*) target; + for(int i = 0; i < length; i++) + t[i] = ((int32_t)s[i]) << 16; +} + +void AUD_convert_s16_float(sample_t* target, sample_t* source, int length) +{ + int16_t* s = (int16_t*) source; + float* t = (float*) target; + for(int i = 0; i < length; i++) + t[i] = s[i] / AUD_S16_FLT; +} + +void AUD_convert_s16_double(sample_t* target, sample_t* source, int length) +{ + int16_t* s = (int16_t*) source; + double* t = (double*) target; + for(int i = 0; i < length; i++) + t[i] = s[i] / AUD_S16_FLT; +} + +void AUD_convert_s24_u8_be(sample_t* target, sample_t* source, int length) +{ + for(int i = 0; i < length; i++) + target[i] = source[i*3] ^ AUD_U8_0; +} + +void AUD_convert_s24_u8_le(sample_t* target, sample_t* source, int length) +{ + for(int i = 0; i < length; i++) + target[i] = source[i*3+2] ^ AUD_U8_0; +} + +void AUD_convert_s24_s16_be(sample_t* target, sample_t* source, int length) +{ + int16_t* t = (int16_t*) target; + for(int i = 0; i < length; i++) + t[i] = source[i*3] << 8 | source[i*3+1]; +} + +void AUD_convert_s24_s16_le(sample_t* target, sample_t* source, int length) +{ + int16_t* t = (int16_t*) target; + for(int i = 0; i < length; i++) + t[i] = source[i*3+2] << 8 | source[i*3+1]; +} + +void AUD_convert_s24_s24(sample_t* target, sample_t* source, int length) +{ + memcpy(target, source, length * 3); +} + +void AUD_convert_s24_s32_be(sample_t* target, sample_t* source, int length) +{ + int32_t* t = (int32_t*) target; + for(int i = 0; i < length; i++) + t[i] = source[i*3] << 24 | source[i*3+1] << 16 | source[i*3+2] << 8; +} + +void AUD_convert_s24_s32_le(sample_t* target, sample_t* source, int length) +{ + int32_t* t = (int32_t*) target; + for(int i = 0; i < length; i++) + t[i] = source[i*3+2] << 24 | source[i*3+1] << 16 | source[i*3] << 8; +} + +void AUD_convert_s24_float_be(sample_t* target, sample_t* source, int length) +{ + float* t = (float*) target; + int32_t s; + for(int i = 0; i < length; i++) + { + s = source[i*3] << 24 | source[i*3+1] << 16 | source[i*3+2] << 8; + t[i] = s / AUD_S32_FLT; + } +} + +void AUD_convert_s24_float_le(sample_t* target, sample_t* source, int length) +{ + float* t = (float*) target; + int32_t s; + for(int i = 0; i < length; i++) + { + s = source[i*3+2] << 24 | source[i*3+1] << 16 | source[i*3] << 8; + t[i] = s / AUD_S32_FLT; + } +} + +void AUD_convert_s24_double_be(sample_t* target, sample_t* source, int length) +{ + double* t = (double*) target; + int32_t s; + for(int i = 0; i < length; i++) + { + s = source[i*3] << 24 | source[i*3+1] << 16 | source[i*3+2] << 8; + t[i] = s / AUD_S32_FLT; + } +} + +void AUD_convert_s24_double_le(sample_t* target, sample_t* source, int length) +{ + double* t = (double*) target; + int32_t s; + for(int i = 0; i < length; i++) + { + s = source[i*3+2] << 24 | source[i*3+1] << 16 | source[i*3] << 8; + t[i] = s / AUD_S32_FLT; + } +} + +void AUD_convert_s32_u8(sample_t* target, sample_t* source, int length) +{ + int16_t* s = (int16_t*) source; + for(int i = 0; i < length; i++) + target[i] = (unsigned char)((s[i] >> 24) + AUD_U8_0); +} + +void AUD_convert_s32_s16(sample_t* target, sample_t* source, int length) +{ + int16_t* t = (int16_t*) target; + int32_t* s = (int32_t*) source; + for(int i = 0; i < length; i++) + t[i] = s[i] >> 16; +} + +void AUD_convert_s32_s24_be(sample_t* target, sample_t* source, int length) +{ + int32_t* s = (int32_t*) source; + for(int i = 0; i < length; i++) + { + target[i*3] = s[i] >> 24 & 0xFF; + target[i*3+1] = s[i] >> 16 & 0xFF; + target[i*3+2] = s[i] >> 8 & 0xFF; + } +} + +void AUD_convert_s32_s24_le(sample_t* target, sample_t* source, int length) +{ + int16_t* s = (int16_t*) source; + for(int i = 0; i < length; i++) + { + target[i*3+2] = s[i] >> 24 & 0xFF; + target[i*3+1] = s[i] >> 16 & 0xFF; + target[i*3] = s[i] >> 8 & 0xFF; + } +} + +void AUD_convert_s32_float(sample_t* target, sample_t* source, int length) +{ + int32_t* s = (int32_t*) source; + float* t = (float*) target; + for(int i = 0; i < length; i++) + t[i] = s[i] / AUD_S32_FLT; +} + +void AUD_convert_s32_double(sample_t* target, sample_t* source, int length) +{ + int32_t* s = (int32_t*) source; + double* t = (double*) target; + for(int i = 0; i < length; i++) + t[i] = s[i] / AUD_S32_FLT; +} + +void AUD_convert_float_u8(sample_t* target, sample_t* source, int length) +{ + float* s = (float*) source; + float t; + for(int i = 0; i < length; i++) + { + t = s[i] + AUD_FLT_MAX; + if(t <= 0.0f) + target[i] = 0; + else if(t >= 2.0f) + target[i] = 255; + else + target[i] = (unsigned char)(t*127); + } +} + +void AUD_convert_float_s16(sample_t* target, sample_t* source, int length) +{ + int16_t* t = (int16_t*) target; + float* s = (float*) source; + for(int i = 0; i < length; i++) + { + if(s[i] <= AUD_FLT_MIN) + t[i] = AUD_S16_MIN; + else if(s[i] >= AUD_FLT_MAX) + t[i] = AUD_S16_MAX; + else + t[i] = (int16_t)(s[i] * AUD_S16_MAX); + } +} + +void AUD_convert_float_s24_be(sample_t* target, sample_t* source, int length) +{ + int32_t t; + float* s = (float*) source; + for(int i = 0; i < length; i++) + { + if(s[i] <= AUD_FLT_MIN) + t = AUD_S32_MIN; + else if(s[i] >= AUD_FLT_MAX) + t = AUD_S32_MAX; + else + t = (int32_t)(s[i]*AUD_S32_MAX); + target[i*3] = t >> 24 & 0xFF; + target[i*3+1] = t >> 16 & 0xFF; + target[i*3+2] = t >> 8 & 0xFF; + } +} + +void AUD_convert_float_s24_le(sample_t* target, sample_t* source, int length) +{ + int32_t t; + float* s = (float*) source; + for(int i = 0; i < length; i++) + { + if(s[i] <= AUD_FLT_MIN) + t = AUD_S32_MIN; + else if(s[i] >= AUD_FLT_MAX) + t = AUD_S32_MAX; + else + t = (int32_t)(s[i]*AUD_S32_MAX); + target[i*3+2] = t >> 24 & 0xFF; + target[i*3+1] = t >> 16 & 0xFF; + target[i*3] = t >> 8 & 0xFF; + } +} + +void AUD_convert_float_s32(sample_t* target, sample_t* source, int length) +{ + int32_t* t = (int32_t*) target; + float* s = (float*) source; + for(int i = 0; i < length; i++) + { + if(s[i] <= AUD_FLT_MIN) + t[i] = AUD_S32_MIN; + else if(s[i] >= AUD_FLT_MAX) + t[i] = AUD_S32_MAX; + else + t[i] = (int32_t)(s[i]*AUD_S32_MAX); + } +} + +void AUD_convert_float_double(sample_t* target, sample_t* source, int length) +{ + float* s = (float*) source; + double* t = (double*) target; + for(int i = 0; i < length; i++) + t[i] = s[i]; +} + +void AUD_convert_double_u8(sample_t* target, sample_t* source, int length) +{ + double* s = (double*) source; + double t; + for(int i = 0; i < length; i++) + { + t = s[i] + AUD_FLT_MAX; + if(t <= 0.0) + target[i] = 0; + else if(t >= 2.0) + target[i] = 255; + else + target[i] = (unsigned char)(t*127); + } +} + +void AUD_convert_double_s16(sample_t* target, sample_t* source, int length) +{ + int16_t* t = (int16_t*) target; + double* s = (double*) source; + for(int i = 0; i < length; i++) + { + if(s[i] <= AUD_FLT_MIN) + t[i] = AUD_S16_MIN; + else if(s[i] >= AUD_FLT_MAX) + t[i] = AUD_S16_MAX; + else + t[i] = (int16_t)(s[i]*AUD_S16_MAX); + } +} + +void AUD_convert_double_s24_be(sample_t* target, sample_t* source, int length) +{ + int32_t t; + double* s = (double*) source; + for(int i = 0; i < length; i++) + { + if(s[i] <= AUD_FLT_MIN) + t = AUD_S32_MIN; + else if(s[i] >= AUD_FLT_MAX) + t = AUD_S32_MAX; + else + t = (int32_t)(s[i]*AUD_S32_MAX); + target[i*3] = t >> 24 & 0xFF; + target[i*3+1] = t >> 16 & 0xFF; + target[i*3+2] = t >> 8 & 0xFF; + } +} + +void AUD_convert_double_s24_le(sample_t* target, sample_t* source, int length) +{ + int32_t t; + double* s = (double*) source; + for(int i = 0; i < length; i++) + { + if(s[i] <= AUD_FLT_MIN) + t = AUD_S32_MIN; + else if(s[i] >= AUD_FLT_MAX) + t = AUD_S32_MAX; + else + t = (int32_t)(s[i]*AUD_S32_MAX); + target[i*3+2] = t >> 24 & 0xFF; + target[i*3+1] = t >> 16 & 0xFF; + target[i*3] = t >> 8 & 0xFF; + } +} + +void AUD_convert_double_s32(sample_t* target, sample_t* source, int length) +{ + int32_t* t = (int32_t*) target; + double* s = (double*) source; + for(int i = 0; i < length; i++) + { + if(s[i] <= AUD_FLT_MIN) + t[i] = AUD_S32_MIN; + else if(s[i] >= AUD_FLT_MAX) + t[i] = AUD_S32_MAX; + else + t[i] = (int32_t)(s[i]*AUD_S32_MAX); + } +} + +void AUD_convert_double_float(sample_t* target, sample_t* source, int length) +{ + double* s = (double*) source; + float* t = (float*) target; + for(int i = 0; i < length; i++) + t[i] = s[i]; +} + +void AUD_volume_adjust_u8(sample_t* target, sample_t* source, + int count, float volume) +{ + for(int i=0; i<count; i++) + target[i] = (unsigned char)((source[i]-0x0080) * volume + 0x80); +} + +void AUD_volume_adjust_s24_le(sample_t* target, sample_t* source, + int count, float volume) +{ + count *= 3; + int value; + + for(int i=0; i<count; i+=3) + { + value = source[i+2] << 16 | source[i+1] << 8 | source[i]; + value |= (((value & 0x800000) >> 23) * 255) << 24; + value *= volume; + target[i+2] = value >> 16; + target[i+1] = value >> 8; + target[i] = value; + } +} + +void AUD_volume_adjust_s24_be(sample_t* target, sample_t* source, + int count, float volume) +{ + count *= 3; + int value; + + for(int i=0; i < count; i+=3) + { + value = source[i] << 16 | source[i+1] << 8 | source[i+2]; + value |= (((value & 0x800000) >> 23) * 255) << 24; + value *= volume; + target[i] = value >> 16; + target[i+1] = value >> 8; + target[i+2] = value; + } +} + diff --git a/intern/audaspace/intern/AUD_ConverterFunctions.h b/intern/audaspace/intern/AUD_ConverterFunctions.h new file mode 100644 index 00000000000..c1dd0f4a3a2 --- /dev/null +++ b/intern/audaspace/intern/AUD_ConverterFunctions.h @@ -0,0 +1,156 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_CONVERTERFUNCTIONS +#define AUD_CONVERTERFUNCTIONS + +#include "AUD_Space.h" + +#include <cstring> +#ifdef _MSC_VER +#if (_MSC_VER < 1300) + typedef short int16_t; + typedef int int32_t; +#else + typedef __int16 int16_t; + typedef __int32 int32_t; +#endif +#else +#include <stdint.h> +#endif + +typedef void (*AUD_convert_f)(sample_t* target, sample_t* source, int length); + +typedef void (*AUD_volume_adjust_f)(sample_t* target, sample_t* source, + int count, float volume); + +template <class T> +void AUD_convert_copy(sample_t* target, sample_t* source, int length) +{ + memcpy(target, source, length*sizeof(T)); +} + +void AUD_convert_u8_s16(sample_t* target, sample_t* source, int length); + +void AUD_convert_u8_s24_be(sample_t* target, sample_t* source, int length); + +void AUD_convert_u8_s24_le(sample_t* target, sample_t* source, int length); + +void AUD_convert_u8_s32(sample_t* target, sample_t* source, int length); + +void AUD_convert_u8_float(sample_t* target, sample_t* source, int length); + +void AUD_convert_u8_double(sample_t* target, sample_t* source, int length); + +void AUD_convert_s16_u8(sample_t* target, sample_t* source, int length); + +void AUD_convert_s16_s24_be(sample_t* target, sample_t* source, int length); + +void AUD_convert_s16_s24_le(sample_t* target, sample_t* source, int length); + +void AUD_convert_s16_s32(sample_t* target, sample_t* source, int length); + +void AUD_convert_s16_float(sample_t* target, sample_t* source, int length); + +void AUD_convert_s16_double(sample_t* target, sample_t* source, int length); + +void AUD_convert_s24_u8_be(sample_t* target, sample_t* source, int length); + +void AUD_convert_s24_u8_le(sample_t* target, sample_t* source, int length); + +void AUD_convert_s24_s16_be(sample_t* target, sample_t* source, int length); + +void AUD_convert_s24_s16_le(sample_t* target, sample_t* source, int length); + +void AUD_convert_s24_s24(sample_t* target, sample_t* source, int length); + +void AUD_convert_s24_s32_be(sample_t* target, sample_t* source, int length); + +void AUD_convert_s24_s32_le(sample_t* target, sample_t* source, int length); + +void AUD_convert_s24_float_be(sample_t* target, sample_t* source, int length); + +void AUD_convert_s24_float_le(sample_t* target, sample_t* source, int length); + +void AUD_convert_s24_double_be(sample_t* target, sample_t* source, int length); + +void AUD_convert_s24_double_le(sample_t* target, sample_t* source, int length); + +void AUD_convert_s32_u8(sample_t* target, sample_t* source, int length); + +void AUD_convert_s32_s16(sample_t* target, sample_t* source, int length); + +void AUD_convert_s32_s24_be(sample_t* target, sample_t* source, int length); + +void AUD_convert_s32_s24_le(sample_t* target, sample_t* source, int length); + +void AUD_convert_s32_float(sample_t* target, sample_t* source, int length); + +void AUD_convert_s32_double(sample_t* target, sample_t* source, int length); + +void AUD_convert_float_u8(sample_t* target, sample_t* source, int length); + +void AUD_convert_float_s16(sample_t* target, sample_t* source, int length); + +void AUD_convert_float_s24_be(sample_t* target, sample_t* source, int length); + +void AUD_convert_float_s24_le(sample_t* target, sample_t* source, int length); + +void AUD_convert_float_s32(sample_t* target, sample_t* source, int length); + +void AUD_convert_float_double(sample_t* target, sample_t* source, int length); + +void AUD_convert_double_u8(sample_t* target, sample_t* source, int length); + +void AUD_convert_double_s16(sample_t* target, sample_t* source, int length); + +void AUD_convert_double_s24_be(sample_t* target, sample_t* source, int length); + +void AUD_convert_double_s24_le(sample_t* target, sample_t* source, int length); + +void AUD_convert_double_s32(sample_t* target, sample_t* source, int length); + +void AUD_convert_double_float(sample_t* target, sample_t* source, int length); + +template <class T> +void AUD_volume_adjust(sample_t* target, sample_t* source, + int count, float volume) +{ + T* t = (T*)target; + T* s = (T*)source; + for(int i=0; i < count; i++) + t[i] = (T)(s[i] * volume); +} + +void AUD_volume_adjust_u8(sample_t* target, sample_t* source, + int count, float volume); + +void AUD_volume_adjust_s24_le(sample_t* target, sample_t* source, + int count, float volume); + +void AUD_volume_adjust_s24_be(sample_t* target, sample_t* source, + int count, float volume); + +#endif //AUD_CONVERTERFUNCTIONS diff --git a/intern/audaspace/intern/AUD_ConverterReader.cpp b/intern/audaspace/intern/AUD_ConverterReader.cpp new file mode 100644 index 00000000000..da25a2b7460 --- /dev/null +++ b/intern/audaspace/intern/AUD_ConverterReader.cpp @@ -0,0 +1,260 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_ConverterReader.h" +#include "AUD_Buffer.h" + +AUD_ConverterReader::AUD_ConverterReader(AUD_IReader* reader, AUD_Specs specs) : + AUD_EffectReader(reader) +{ + m_specs = reader->getSpecs(); + + int bigendian = 1; + bigendian = (((char*)&bigendian)[0]) ? 0: 1; // 1 if Big Endian + + switch(m_specs.format) + { + case AUD_FORMAT_U8: + switch(specs.format) + { + case AUD_FORMAT_U8: + m_convert = AUD_convert_copy<unsigned char>; + break; + case AUD_FORMAT_S16: + m_convert = AUD_convert_u8_s16; + break; + case AUD_FORMAT_S24: + if(bigendian) + m_convert = AUD_convert_u8_s24_be; + else + m_convert = AUD_convert_u8_s24_le; + break; + case AUD_FORMAT_S32: + m_convert = AUD_convert_u8_s32; + break; + case AUD_FORMAT_FLOAT32: + m_convert = AUD_convert_u8_float; + break; + case AUD_FORMAT_FLOAT64: + m_convert = AUD_convert_u8_double; + break; + default: + break; + } + break; + case AUD_FORMAT_S16: + switch(specs.format) + { + case AUD_FORMAT_U8: + m_convert = AUD_convert_s16_u8; + break; + case AUD_FORMAT_S16: + m_convert = AUD_convert_copy<int16_t>; + break; + case AUD_FORMAT_S24: + if(bigendian) + m_convert = AUD_convert_s16_s24_be; + else + m_convert = AUD_convert_s16_s24_le; + break; + case AUD_FORMAT_S32: + m_convert = AUD_convert_s16_s32; + break; + case AUD_FORMAT_FLOAT32: + m_convert = AUD_convert_s16_float; + break; + case AUD_FORMAT_FLOAT64: + m_convert = AUD_convert_s16_double; + break; + default: + break; + } + break; + case AUD_FORMAT_S24: + if(bigendian) + switch(specs.format) + { + case AUD_FORMAT_U8: + m_convert = AUD_convert_u8_s24_be; + break; + case AUD_FORMAT_S16: + m_convert = AUD_convert_s16_s24_be; + break; + case AUD_FORMAT_S24: + m_convert = AUD_convert_s24_s24; + break; + case AUD_FORMAT_S32: + m_convert = AUD_convert_s32_s24_be; + break; + case AUD_FORMAT_FLOAT32: + m_convert = AUD_convert_float_s24_be; + break; + case AUD_FORMAT_FLOAT64: + m_convert = AUD_convert_double_s24_be; + break; + default: + break; + } + else + switch(specs.format) + { + case AUD_FORMAT_U8: + m_convert = AUD_convert_u8_s24_le; + break; + case AUD_FORMAT_S16: + m_convert = AUD_convert_s16_s24_le; + break; + case AUD_FORMAT_S24: + m_convert = AUD_convert_s24_s24; + break; + case AUD_FORMAT_S32: + m_convert = AUD_convert_s32_s24_le; + break; + case AUD_FORMAT_FLOAT32: + m_convert = AUD_convert_float_s24_le; + break; + case AUD_FORMAT_FLOAT64: + m_convert = AUD_convert_double_s24_le; + break; + default: + break; + } + break; + case AUD_FORMAT_S32: + switch(specs.format) + { + case AUD_FORMAT_U8: + m_convert = AUD_convert_s32_u8; + break; + case AUD_FORMAT_S16: + m_convert = AUD_convert_s32_s16; + break; + case AUD_FORMAT_S24: + if(bigendian) + m_convert = AUD_convert_s32_s24_be; + else + m_convert = AUD_convert_s32_s24_le; + break; + case AUD_FORMAT_S32: + m_convert = AUD_convert_copy<int32_t>; + break; + case AUD_FORMAT_FLOAT32: + m_convert = AUD_convert_s32_float; + break; + case AUD_FORMAT_FLOAT64: + m_convert = AUD_convert_s32_double; + break; + default: + break; + } + break; + case AUD_FORMAT_FLOAT32: + switch(specs.format) + { + case AUD_FORMAT_U8: + m_convert = AUD_convert_float_u8; + break; + case AUD_FORMAT_S16: + m_convert = AUD_convert_float_s16; + break; + case AUD_FORMAT_S24: + if(bigendian) + m_convert = AUD_convert_float_s24_be; + else + m_convert = AUD_convert_float_s24_le; + break; + case AUD_FORMAT_S32: + m_convert = AUD_convert_float_s32; + break; + case AUD_FORMAT_FLOAT32: + m_convert = AUD_convert_copy<float>; + break; + case AUD_FORMAT_FLOAT64: + m_convert = AUD_convert_float_double; + break; + default: + break; + } + break; + case AUD_FORMAT_FLOAT64: + switch(specs.format) + { + case AUD_FORMAT_U8: + m_convert = AUD_convert_double_u8; + break; + case AUD_FORMAT_S16: + m_convert = AUD_convert_double_s16; + break; + case AUD_FORMAT_S24: + if(bigendian) + m_convert = AUD_convert_double_s24_be; + else + m_convert = AUD_convert_double_s24_le; + break; + case AUD_FORMAT_S32: + m_convert = AUD_convert_double_s32; + break; + case AUD_FORMAT_FLOAT32: + m_convert = AUD_convert_double_float; + break; + case AUD_FORMAT_FLOAT64: + m_convert = AUD_convert_copy<double>; + break; + default: + break; + } + break; + default: + break; + } + + m_specs.format = specs.format; + + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") +} + +AUD_ConverterReader::~AUD_ConverterReader() +{ + delete m_buffer; AUD_DELETE("buffer") +} + +AUD_Specs AUD_ConverterReader::getSpecs() +{ + return m_specs; +} + +void AUD_ConverterReader::read(int & length, sample_t* & buffer) +{ + m_reader->read(length, buffer); + + int samplesize = AUD_SAMPLE_SIZE(m_specs); + + if(m_buffer->getSize() < length*samplesize) + m_buffer->resize(length*samplesize); + + m_convert(m_buffer->getBuffer(), buffer, length*m_specs.channels); + + buffer = m_buffer->getBuffer(); +} diff --git a/intern/audaspace/intern/AUD_ConverterReader.h b/intern/audaspace/intern/AUD_ConverterReader.h new file mode 100644 index 00000000000..f855372b636 --- /dev/null +++ b/intern/audaspace/intern/AUD_ConverterReader.h @@ -0,0 +1,71 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_CONVERTERREADER +#define AUD_CONVERTERREADER + +#include "AUD_EffectReader.h" +#include "AUD_ConverterFunctions.h" +class AUD_Buffer; + +/** + * This class converts a sound source from one to another format. + */ +class AUD_ConverterReader : public AUD_EffectReader +{ +private: + /** + * The sound output buffer. + */ + AUD_Buffer *m_buffer; + + /** + * The target specification. + */ + AUD_Specs m_specs; + + /** + * Converter function. + */ + AUD_convert_f m_convert; + +public: + /** + * Creates a converter reader. + * \param reader The reader to convert. + * \param specs The target specification. + * \exception AUD_Exception Thrown if the reader is NULL. + */ + AUD_ConverterReader(AUD_IReader* reader, AUD_Specs specs); + /** + * Destroys the reader. + */ + ~AUD_ConverterReader(); + + virtual AUD_Specs getSpecs(); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_CONVERTERREADER diff --git a/intern/audaspace/intern/AUD_FileFactory.cpp b/intern/audaspace/intern/AUD_FileFactory.cpp new file mode 100644 index 00000000000..b63390803b1 --- /dev/null +++ b/intern/audaspace/intern/AUD_FileFactory.cpp @@ -0,0 +1,95 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_FileFactory.h" +#include "AUD_Buffer.h" + +#include <cstring> + +#ifdef WITH_FFMPEG +#include "AUD_FFMPEGReader.h" +#endif +#ifdef WITH_SNDFILE +#include "AUD_SndFileReader.h" +#endif + +AUD_FileFactory::AUD_FileFactory(const char* filename) +{ + if(filename != NULL) + { + m_filename = new char[strlen(filename)+1]; AUD_NEW("string") + strcpy(m_filename, filename); + } + else + m_filename = NULL; +} + +AUD_FileFactory::AUD_FileFactory(unsigned char* buffer, int size) +{ + m_filename = NULL; + m_buffer = AUD_Reference<AUD_Buffer>(new AUD_Buffer(size)); + memcpy(m_buffer.get()->getBuffer(), buffer, size); +} + +AUD_FileFactory::~AUD_FileFactory() +{ + if(m_filename) + { + delete[] m_filename; AUD_DELETE("string") + } +} + +AUD_IReader* AUD_FileFactory::createReader() +{ + AUD_IReader* reader = 0; + +#ifdef WITH_SNDFILE + try + { + if(m_filename) + reader = new AUD_SndFileReader(m_filename); + else + reader = new AUD_SndFileReader(m_buffer); + AUD_NEW("reader") + return reader; + } + catch(AUD_Exception e) {} +#endif + +#ifdef WITH_FFMPEG + try + { + if(m_filename) + reader = new AUD_FFMPEGReader(m_filename); + else + reader = new AUD_FFMPEGReader(m_buffer); + AUD_NEW("reader") + return reader; + } + catch(AUD_Exception e) {} +#endif + + return reader; +} diff --git a/intern/audaspace/intern/AUD_FileFactory.h b/intern/audaspace/intern/AUD_FileFactory.h new file mode 100644 index 00000000000..6ab8f280534 --- /dev/null +++ b/intern/audaspace/intern/AUD_FileFactory.h @@ -0,0 +1,71 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_FILEFACTORY +#define AUD_FILEFACTORY + +#include "AUD_IFactory.h" +#include "AUD_Reference.h" +class AUD_Buffer; + +/** + * This factory tries to read a sound file via all available file readers. + */ +class AUD_FileFactory : public AUD_IFactory +{ +private: + /** + * The filename of the sound source file. + */ + char* m_filename; + + /** + * The buffer to read from. + */ + AUD_Reference<AUD_Buffer> m_buffer; + +public: + /** + * Creates a new factory. + * \param filename The sound file path. + */ + AUD_FileFactory(const char* filename); + + /** + * Creates a new factory. + * \param buffer The buffer to read from. + * \param size The size of the buffer. + */ + AUD_FileFactory(unsigned char* buffer, int size); + + /** + * Destroys the factory. + */ + ~AUD_FileFactory(); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_FILEFACTORY diff --git a/intern/audaspace/intern/AUD_FloatMixer.cpp b/intern/audaspace/intern/AUD_FloatMixer.cpp new file mode 100644 index 00000000000..f7133b9c30e --- /dev/null +++ b/intern/audaspace/intern/AUD_FloatMixer.cpp @@ -0,0 +1,172 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_FloatMixer.h" +#include "AUD_ConverterFactory.h" +#include "AUD_SRCResampleFactory.h" +#include "AUD_ChannelMapperFactory.h" +#include "AUD_IReader.h" +#include "AUD_Buffer.h" + +#include <cstring> + +AUD_FloatMixer::AUD_FloatMixer() +{ + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") + + m_converter = NULL; + m_resampler = NULL; + m_mapper = NULL; +} + +AUD_FloatMixer::~AUD_FloatMixer() +{ + delete m_buffer; AUD_DELETE("buffer") + + if(m_converter) + { + delete m_converter; AUD_DELETE("factory") + } + if(m_resampler) + { + delete m_resampler; AUD_DELETE("factory") + } + if(m_mapper) + { + delete m_mapper; AUD_DELETE("factory") + } +} + +AUD_IReader* AUD_FloatMixer::prepare(AUD_IReader* reader) +{ + m_converter->setReader(reader); + reader = m_converter->createReader(); + + m_resampler->setReader(reader); + reader = m_resampler->createReader(); + + if(reader->getSpecs().channels != m_specs.channels) + { + m_mapper->setReader(reader); + reader = m_mapper->createReader(); + } + + return reader; +} + +void AUD_FloatMixer::setSpecs(AUD_Specs specs) +{ + m_specs = specs; + + if(m_converter) + { + delete m_converter; AUD_DELETE("factory") + } + if(m_resampler) + { + delete m_resampler; AUD_DELETE("factory") + } + if(m_mapper) + { + delete m_mapper; AUD_DELETE("factory") + } + + specs.format = AUD_FORMAT_FLOAT32; + + m_converter = new AUD_ConverterFactory(specs); AUD_NEW("factory") + m_resampler = new AUD_SRCResampleFactory(specs); AUD_NEW("factory") + m_mapper = new AUD_ChannelMapperFactory(specs); AUD_NEW("factory") + + int bigendian = 1; + bigendian = (((char*)&bigendian)[0]) ? 0: 1; // 1 if Big Endian + + switch(m_specs.format) + { + case AUD_FORMAT_U8: + m_convert = AUD_convert_float_u8; + break; + case AUD_FORMAT_S16: + m_convert = AUD_convert_float_s16; + break; + case AUD_FORMAT_S24: + if(bigendian) + m_convert = AUD_convert_float_s24_be; + else + m_convert = AUD_convert_float_s24_le; + break; + case AUD_FORMAT_S32: + m_convert = AUD_convert_float_s32; + break; + case AUD_FORMAT_FLOAT32: + m_convert = AUD_convert_copy<float>; + break; + case AUD_FORMAT_FLOAT64: + m_convert = AUD_convert_float_double; + break; + default: + break; + } +} + +void AUD_FloatMixer::add(sample_t* buffer, AUD_Specs specs, int length, + float volume) +{ + AUD_FloatMixerBuffer buf; + buf.buffer = buffer; + buf.length = length; + buf.volume = volume; + m_buffers.push_back(buf); +} + +void AUD_FloatMixer::superpose(sample_t* buffer, int length, float volume) +{ + AUD_FloatMixerBuffer buf; + + int channels = m_specs.channels; + + if(m_buffer->getSize() < length * channels * 4) + m_buffer->resize(length * channels * 4); + + float* out = (float*)m_buffer->getBuffer(); + float* in; + + memset(out, 0, length * channels * 4); + + int end; + + while(!m_buffers.empty()) + { + buf = m_buffers.front(); + m_buffers.pop_front(); + + end = buf.length*channels; + in = (float*) buf.buffer; + + for(int i = 0; i < end; i++) + out[i] += in[i]*buf.volume * volume; + } + + m_convert(buffer, (sample_t*) out, length * channels); +} diff --git a/intern/audaspace/intern/AUD_FloatMixer.h b/intern/audaspace/intern/AUD_FloatMixer.h new file mode 100644 index 00000000000..728a0faf3cb --- /dev/null +++ b/intern/audaspace/intern/AUD_FloatMixer.h @@ -0,0 +1,100 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_FLOATMIXER +#define AUD_FLOATMIXER + +#include "AUD_IMixer.h" +#include "AUD_ConverterFunctions.h" +class AUD_ConverterFactory; +class AUD_SRCResampleFactory; +class AUD_ChannelMapperFactory; +class AUD_Buffer; +#include <list> + +struct AUD_FloatMixerBuffer +{ + sample_t* buffer; + int length; + float volume; +}; + +/** + * This class is able to mix two audiosignals with floats. + */ +class AUD_FloatMixer : public AUD_IMixer +{ +private: + /** + * The converter factory that converts all readers for superposition. + */ + AUD_ConverterFactory* m_converter; + + /** + * The resampling factory that resamples all readers for superposition. + */ + AUD_SRCResampleFactory* m_resampler; + + /** + * The channel mapper factory that maps all readers for superposition. + */ + AUD_ChannelMapperFactory* m_mapper; + + /** + * The list of buffers to superpose. + */ + std::list<AUD_FloatMixerBuffer> m_buffers; + + /** + * The output specification. + */ + AUD_Specs m_specs; + + /** + * The temporary mixing buffer. + */ + AUD_Buffer* m_buffer; + + /** + * Converter function. + */ + AUD_convert_f m_convert; + +public: + /** + * Creates the mixer. + */ + AUD_FloatMixer(); + + virtual ~AUD_FloatMixer(); + + virtual AUD_IReader* prepare(AUD_IReader* reader); + virtual void setSpecs(AUD_Specs specs); + virtual void add(sample_t* buffer, AUD_Specs specs, int length, + float volume); + virtual void superpose(sample_t* buffer, int length, float volume); +}; + +#endif //AUD_FLOATMIXER diff --git a/intern/audaspace/intern/AUD_I3DDevice.h b/intern/audaspace/intern/AUD_I3DDevice.h new file mode 100644 index 00000000000..c36924160de --- /dev/null +++ b/intern/audaspace/intern/AUD_I3DDevice.h @@ -0,0 +1,103 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_I3DDEVICE +#define AUD_I3DDEVICE + +#include "AUD_Space.h" + +/** + * This class represents an output device for 3D sound. + * Whether a normal device supports this or not can be checked with the + * AUD_CAPS_3D_DEVICE capability. + */ +class AUD_I3DDevice +{ +public: + /** + * Plays a 3D sound source. + * \param factory The factory to create the reader for the sound source. + * \param keep When keep is true the sound source will not be deleted but + * set to paused when its end has been reached. + * \return Returns a handle with which the playback can be controlled. + * This is NULL if the sound couldn't be played back. + * \exception AUD_Exception Thrown if there's an unexpected (from the + * device side) error during creation of the reader. + * \note The factory must provide a mono (single channel) source otherwise + * the sound is played back normally. + */ + virtual AUD_Handle* play3D(AUD_IFactory* factory, bool keep = false)=0; + + /** + * Updates a listeners 3D data. + * \param data The 3D data. + * \return Whether the action succeeded. + */ + virtual bool updateListener(AUD_3DData &data)=0; + + /** + * Sets a 3D device setting. + * \param setting The setting type. + * \param value The new setting value. + * \return Whether the action succeeded. + */ + virtual bool setSetting(AUD_3DSetting setting, float value)=0; + + /** + * Retrieves a 3D device setting. + * \param setting The setting type. + * \return The setting value. + */ + virtual float getSetting(AUD_3DSetting setting)=0; + + /** + * Updates a listeners 3D data. + * \param handle The source handle. + * \param data The 3D data. + * \return Whether the action succeeded. + */ + virtual bool updateSource(AUD_Handle* handle, AUD_3DData &data)=0; + + /** + * Sets a 3D source setting. + * \param handle The source handle. + * \param setting The setting type. + * \param value The new setting value. + * \return Whether the action succeeded. + */ + virtual bool setSourceSetting(AUD_Handle* handle, + AUD_3DSourceSetting setting, float value)=0; + + /** + * Retrieves a 3D source setting. + * \param handle The source handle. + * \param setting The setting type. + * \return The setting value. + */ + virtual float getSourceSetting(AUD_Handle* handle, + AUD_3DSourceSetting setting)=0; +}; + +#endif //AUD_I3DDEVICE diff --git a/intern/audaspace/intern/AUD_IDevice.h b/intern/audaspace/intern/AUD_IDevice.h new file mode 100644 index 00000000000..af2cae206f3 --- /dev/null +++ b/intern/audaspace/intern/AUD_IDevice.h @@ -0,0 +1,191 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_IDEVICE +#define AUD_IDEVICE + +#include "AUD_Space.h" +class AUD_IFactory; + +/// Handle structure, for inherition. +typedef struct +{ +} AUD_Handle; + +/** + * This class represents an output device for sound sources. + * Output devices may be several backends such as plattform independand like + * SDL or OpenAL or plattform specific like DirectSound, but they may also be + * files, RAM buffers or other types of streams. + * \warning Thread safety must be insured so that no reader is beeing called + * twice at the same time. + */ +class AUD_IDevice +{ +public: + /** + * Destroys the device. + */ + virtual ~AUD_IDevice() {} + + /** + * Returns the specification of the device. + */ + virtual AUD_Specs getSpecs()=0; + + /** + * Plays a sound source. + * \param factory The factory to create the reader for the sound source. + * \param keep When keep is true the sound source will not be deleted but + * set to paused when its end has been reached. + * \return Returns a handle with which the playback can be controlled. + * This is NULL if the sound couldn't be played back. + * \exception AUD_Exception Thrown if there's an unexpected (from the + * device side) error during creation of the reader. + */ + virtual AUD_Handle* play(AUD_IFactory* factory, bool keep = false)=0; + + /** + * Pauses a played back sound. + * \param handle The handle returned by the play function. + * \return + * - true if the sound has been paused. + * - false if the sound isn't playing back or the handle is invalid. + */ + virtual bool pause(AUD_Handle* handle)=0; + + /** + * Resumes a paused sound. + * \param handle The handle returned by the play function. + * \return + * - true if the sound has been resumed. + * - false if the sound isn't paused or the handle is invalid. + */ + virtual bool resume(AUD_Handle* handle)=0; + + /** + * Stops a played back or paused sound. The handle is definitely invalid + * afterwards. + * \param handle The handle returned by the play function. + * \return + * - true if the sound has been stopped. + * - false if the handle is invalid. + */ + virtual bool stop(AUD_Handle* handle)=0; + + /** + * Sets the behaviour of the device for a played back sound when the sound + * doesn't return any more samples. + * \param handle The handle returned by the play function. + * \param keep True when the source should be paused and not deleted. + * \return + * - true if the behaviour has been changed. + * - false if the handle is invalid. + */ + virtual bool setKeep(AUD_Handle* handle, bool keep)=0; + + /** + * Sends a message to a sound or all sounds that are currently played or + * paused. + * \param handle The sound that should receive the message or NULL if all + * sounds should receive it. + * \param message The message. + * \return True if the message has been read by at least one sound. + */ + virtual bool sendMessage(AUD_Handle* handle, AUD_Message &message)=0; + + /** + * Seeks in a played back sound. + * \param handle The handle returned by the play function. + * \param position The new position from where to play back, in seconds. + * \return + * - true if the handle is valid. + * - false if the handle is invalid. + * \warning Whether the seek works or not depends on the sound source. + */ + virtual bool seek(AUD_Handle* handle, float position)=0; + + /** + * Retrieves the current playback position of a sound. + * \param handle The handle returned by the play function. + * \return The playback position in seconds, or 0.0 if the handle is + * invalid. + */ + virtual float getPosition(AUD_Handle* handle)=0; + + /** + * Returns the status of a played back sound. + * \param handle The handle returned by the play function. + * \return + * - AUD_STATUS_INVALID if the sound has stopped or the handle is + *. invalid + * - AUD_STATUS_PLAYING if the sound is currently played back. + * - AUD_STATUS_PAUSED if the sound is currently paused. + * \see AUD_Status + */ + virtual AUD_Status getStatus(AUD_Handle* handle)=0; + + /** + * Locks the device. + * Used to make sure that between lock and unlock, no buffers are read, so + * that it is possible to start, resume, pause, stop or seek several + * playback handles simultaneously. + * \warning Make sure the locking time is as small as possible to avoid + * playback delays that result in unexpected noise and cracks. + */ + virtual void lock()=0; + + /** + * Unlocks the previously locked device. + */ + virtual void unlock()=0; + + /** + * Checks if a specific capability as available on a device. + * \param capability The capability. + * \return Whether it is available or not. + */ + virtual bool checkCapability(int capability)=0; + + /** + * Set a value of a capability. The data behind the pointer depends on the + * capability. + * \param capability The capability. + * \param value The value. + * \return Whether the action succeeded or not. + */ + virtual bool setCapability(int capability, void *value)=0; + + /** + * Retrieves a value of a capability. The data behind the pointer depends on + * the capability. + * \param capability The capability. + * \param value The value. + * \return Whether the action succeeded or not. + */ + virtual bool getCapability(int capability, void *value)=0; +}; + +#endif //AUD_IDevice diff --git a/intern/audaspace/intern/AUD_IFactory.h b/intern/audaspace/intern/AUD_IFactory.h new file mode 100644 index 00000000000..f7f29c9e842 --- /dev/null +++ b/intern/audaspace/intern/AUD_IFactory.h @@ -0,0 +1,55 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_IFACTORY +#define AUD_IFACTORY + +#include "AUD_Space.h" +class AUD_IReader; + +/** + * This class represents a type of sound source and saves the necessary values + * for it. It is able to create a reader that is actually usable for playback + * of the respective sound source through the factory method createReader. + */ +class AUD_IFactory +{ +public: + /** + * Destroys the factory. + */ + virtual ~AUD_IFactory(){} + + /** + * Creates a reader for playback of the sound source. + * \return A pointer to an AUD_IReader object or NULL if there has been an + * error. + * \exception AUD_Exception An exception may be thrown if there has been + * a more unexpected error during reader creation. + */ + virtual AUD_IReader* createReader()=0; +}; + +#endif //AUD_IFACTORY diff --git a/intern/audaspace/intern/AUD_IMixer.h b/intern/audaspace/intern/AUD_IMixer.h new file mode 100644 index 00000000000..c65e4c69cf7 --- /dev/null +++ b/intern/audaspace/intern/AUD_IMixer.h @@ -0,0 +1,77 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_IMIXER +#define AUD_IMIXER + +#include "AUD_Space.h" +class AUD_IReader; + +/** + * This class is able to mix audiosignals of different format and channel count. + * \note This class doesn't do resampling! + */ +class AUD_IMixer +{ +public: + /** + * Destroys the mixer. + */ + virtual ~AUD_IMixer(){} + + /** + * This funuction prepares a reader for playback. + * \param reader The reader to prepare. + * \return The reader that should be used for playback. + */ + virtual AUD_IReader* prepare(AUD_IReader* reader)=0; + + /** + * Sets the target specification for superposing. + * \param specs The target specification. + */ + virtual void setSpecs(AUD_Specs specs)=0; + + /** + * Adds a buffer for superposition. + * \param buffer The buffer to superpose. + * \param specs The specification of the buffer. + * \param start The start sample of the buffer. + * \param length The length of the buffer in samples. + * \param volume The mixing volume. Must be a value between 0.0 and 1.0. + */ + virtual void add(sample_t* buffer, AUD_Specs specs, int length, + float volume)=0; + + /** + * Superposes all added buffers into an output buffer. + * \param buffer The target buffer for superposing. + * \param length The length of the buffer in samples. + * \param volume The mixing volume. Must be a value between 0.0 and 1.0. + */ + virtual void superpose(sample_t* buffer, int length, float volume)=0; +}; + +#endif //AUD_IMIXER diff --git a/intern/audaspace/intern/AUD_IReader.h b/intern/audaspace/intern/AUD_IReader.h new file mode 100644 index 00000000000..4b563100659 --- /dev/null +++ b/intern/audaspace/intern/AUD_IReader.h @@ -0,0 +1,117 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_IREADER +#define AUD_IREADER + +#include "AUD_Space.h" + +/** + * This class represents a sound source as stream or as buffer which can be read + * for example by another reader, a device or whatever. + */ +class AUD_IReader +{ +public: + /** + * Destroys the reader. + */ + virtual ~AUD_IReader(){} + + /** + * Tells whether the source provides seeking functionality or not. + * \warning This doesn't mean that the seeking always has to succeed. + * \return Always returns true for readers of the buffer type. + * \see getType + */ + virtual bool isSeekable()=0; + + /** + * Seeks to a specific position in the source. + * This function must work for buffer type readers. + * \param position The position to seek for measured in samples. To get + * from a given time to the samples you simply have to multiply the + * time value in seconds with the sample rate of the reader. + * \warning This may work or not, depending on the actual reader. + * \see getType + */ + virtual void seek(int position)=0; + + /** + * Returns an aproximated length of the source in samples. + * For readers of the type buffer this has to return a correct value! + * \return The length as sample count. May be negative if unknown. + * \see getType + */ + virtual int getLength()=0; + + /** + * Returns the position of the source as a sample count value. + * \return The current position in the source. A negative value indicates + * that the position is unknown. + * \warning The value returned doesn't always have to be correct for readers + * of the stream type, especially after seeking, it must though for + * the buffer ones. + * \see getType + */ + virtual int getPosition()=0; + + /** + * Returns the specification of the reader. + * \return The AUD_Specs structure. + */ + virtual AUD_Specs getSpecs()=0; + + /** + * Returns the type of the reader. There are special conditions for the + * readers of the buffer type. Those have to return correct position and + * length values as well as they must be seekable. + * \return AUD_TYPE_BUFFER or AUD_TYPE_STREAM. + */ + virtual AUD_ReaderType getType()=0; + + /** + * Sends a message to this reader and if it has subreaders it broadcasts + * the message to them. + * \param message The message. + * \return Whether the message has been read by the reader or one of his + * subreaders. + */ + virtual bool notify(AUD_Message &message)=0; + + /** + * Request to read the next length samples out of the source. + * The buffer for reading has to stay valid until the next call of this + * method or until the reader is deleted. + * \param[in,out] length The count of samples that should be read. Shall + * contain the real count of samples after reading, in case + * there were only fewer samples available. + * A smaller value also indicates the end of the reader. + * \param[out] buffer The pointer to the buffer with the samples. + */ + virtual void read(int & length, sample_t* & buffer)=0; +}; + +#endif //AUD_IREADER diff --git a/intern/audaspace/intern/AUD_MixerFactory.cpp b/intern/audaspace/intern/AUD_MixerFactory.cpp new file mode 100644 index 00000000000..db38d1004db --- /dev/null +++ b/intern/audaspace/intern/AUD_MixerFactory.cpp @@ -0,0 +1,109 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_MixerFactory.h" +#include "AUD_IReader.h" + +AUD_IReader* AUD_MixerFactory::getReader() +{ + AUD_IReader* reader; + + // first check for an existing reader + if(m_reader != 0) + { + reader = m_reader; + m_reader = 0; + return reader; + } + + // otherwise create a reader if there is a factory + if(m_factory != 0) + { + reader = m_factory->createReader(); + return reader; + } + + return 0; +} + +AUD_MixerFactory::AUD_MixerFactory(AUD_IReader* reader, + AUD_Specs specs) +{ + m_specs = specs; + m_reader = reader; + m_factory = 0; +} + +AUD_MixerFactory::AUD_MixerFactory(AUD_IFactory* factory, + AUD_Specs specs) +{ + m_specs = specs; + m_reader = 0; + m_factory = factory; +} + +AUD_MixerFactory::AUD_MixerFactory(AUD_Specs specs) +{ + m_specs = specs; + m_reader = 0; + m_factory = 0; +} + +AUD_MixerFactory::~AUD_MixerFactory() +{ + if(m_reader != 0) + { + delete m_reader; AUD_DELETE("reader") + } +} + +AUD_Specs AUD_MixerFactory::getSpecs() +{ + return m_specs; +} + +void AUD_MixerFactory::setSpecs(AUD_Specs specs) +{ + m_specs = specs; +} + +void AUD_MixerFactory::setReader(AUD_IReader* reader) +{ + if(m_reader != 0) + { + delete m_reader; AUD_DELETE("reader") + } + m_reader = reader; +} + +void AUD_MixerFactory::setFactory(AUD_IFactory* factory) +{ + m_factory = factory; +} + +AUD_IFactory* AUD_MixerFactory::getFactory() +{ + return m_factory; +} diff --git a/intern/audaspace/intern/AUD_MixerFactory.h b/intern/audaspace/intern/AUD_MixerFactory.h new file mode 100644 index 00000000000..c61dd283c67 --- /dev/null +++ b/intern/audaspace/intern/AUD_MixerFactory.h @@ -0,0 +1,117 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_MIXERFACTORY +#define AUD_MIXERFACTORY + +#include "AUD_IFactory.h" + +/** + * This factory is a base class for all mixer factories. + */ +class AUD_MixerFactory : public AUD_IFactory +{ +protected: + /** + * The reader that should be mixed later. + */ + AUD_IReader* m_reader; + + /** + * If there is no reader it is created out of this factory. + */ + AUD_IFactory* m_factory; + + /** + * The target specification for resampling. + */ + AUD_Specs m_specs; + + /** + * Returns the reader created out of the factory or taken from m_reader. + * This method can be used for the createReader function of the implementing + * classes. + * \return The reader to mix, or NULL if there is no reader or factory. + */ + AUD_IReader* getReader(); + +public: + /** + * Creates a new factory. + * \param reader The reader to mix. + * \param specs The target specification. + */ + AUD_MixerFactory(AUD_IReader* reader, AUD_Specs specs); + + /** + * Creates a new factory. + * \param factory The factory to create the readers to mix out of. + * \param specs The target specification. + */ + AUD_MixerFactory(AUD_IFactory* factory, AUD_Specs specs); + + /** + * Creates a new factory. + * \param specs The target specification. + */ + AUD_MixerFactory(AUD_Specs specs); + + /** + * Destroys the resampling factory. + */ + virtual ~AUD_MixerFactory(); + + /** + * Returns the target specification for resampling. + */ + AUD_Specs getSpecs(); + + /** + * Sets the target specification for resampling. + * \param specs The specification. + */ + void setSpecs(AUD_Specs specs); + + /** + * Sets the reader for resampling. + * If there has already been a reader, it will be deleted. + * \param reader The reader that should be used as source for resampling. + */ + void setReader(AUD_IReader* reader); + + /** + * Sets the factory for resampling. + * \param factory The factory that should be used as source for resampling. + */ + void setFactory(AUD_IFactory* factory); + + /** + * Returns the saved factory. + * \return The factory or NULL if there has no factory been saved. + */ + AUD_IFactory* getFactory(); +}; + +#endif //AUD_MIXERFACTORY diff --git a/intern/audaspace/intern/AUD_NULLDevice.cpp b/intern/audaspace/intern/AUD_NULLDevice.cpp new file mode 100644 index 00000000000..d237b71b67e --- /dev/null +++ b/intern/audaspace/intern/AUD_NULLDevice.cpp @@ -0,0 +1,108 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_NULLDevice.h" +#include "AUD_IReader.h" +#include "AUD_IFactory.h" + +AUD_NULLDevice::AUD_NULLDevice() +{ + m_specs.channels = AUD_CHANNELS_INVALID; + m_specs.format = AUD_FORMAT_INVALID; + m_specs.rate = AUD_RATE_INVALID; +} + +AUD_Specs AUD_NULLDevice::getSpecs() +{ + return m_specs; +} + +AUD_Handle* AUD_NULLDevice::play(AUD_IFactory* factory, bool keep) +{ + return 0; +} + +bool AUD_NULLDevice::pause(AUD_Handle* handle) +{ + return false; +} + +bool AUD_NULLDevice::resume(AUD_Handle* handle) +{ + return false; +} + +bool AUD_NULLDevice::stop(AUD_Handle* handle) +{ + return false; +} + +bool AUD_NULLDevice::setKeep(AUD_Handle* handle, bool keep) +{ + return false; +} + +bool AUD_NULLDevice::sendMessage(AUD_Handle* handle, AUD_Message &message) +{ + return false; +} + +bool AUD_NULLDevice::seek(AUD_Handle* handle, float position) +{ + return false; +} + +float AUD_NULLDevice::getPosition(AUD_Handle* handle) +{ + return 0.0f; +} + +AUD_Status AUD_NULLDevice::getStatus(AUD_Handle* handle) +{ + return AUD_STATUS_INVALID; +} + +void AUD_NULLDevice::lock() +{ +} + +void AUD_NULLDevice::unlock() +{ +} + +bool AUD_NULLDevice::checkCapability(int capability) +{ + return false; +} + +bool AUD_NULLDevice::setCapability(int capability, void *value) +{ + return false; +} + +bool AUD_NULLDevice::getCapability(int capability, void *value) +{ + return false; +} diff --git a/intern/audaspace/intern/AUD_NULLDevice.h b/intern/audaspace/intern/AUD_NULLDevice.h new file mode 100644 index 00000000000..155f24f8837 --- /dev/null +++ b/intern/audaspace/intern/AUD_NULLDevice.h @@ -0,0 +1,65 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_NULLDEVICE +#define AUD_NULLDEVICE + +#include "AUD_IDevice.h" + +/** + * This device plays nothing. + */ +class AUD_NULLDevice : public AUD_IDevice +{ +private: + /** + * The specs of the device. + */ + AUD_Specs m_specs; + +public: + /** + * Creates a new NULL device. + */ + AUD_NULLDevice(); + + virtual AUD_Specs getSpecs(); + virtual AUD_Handle* play(AUD_IFactory* factory, bool keep = false); + virtual bool pause(AUD_Handle* handle); + virtual bool resume(AUD_Handle* handle); + virtual bool stop(AUD_Handle* handle); + virtual bool setKeep(AUD_Handle* handle, bool keep); + virtual bool sendMessage(AUD_Handle* handle, AUD_Message &message); + virtual bool seek(AUD_Handle* handle, float position); + virtual float getPosition(AUD_Handle* handle); + virtual AUD_Status getStatus(AUD_Handle* handle); + virtual void lock(); + virtual void unlock(); + virtual bool checkCapability(int capability); + virtual bool setCapability(int capability, void *value); + virtual bool getCapability(int capability, void *value); +}; + +#endif //AUD_NULLDEVICE diff --git a/intern/audaspace/intern/AUD_ReadDevice.cpp b/intern/audaspace/intern/AUD_ReadDevice.cpp new file mode 100644 index 00000000000..e2c1d2fac81 --- /dev/null +++ b/intern/audaspace/intern/AUD_ReadDevice.cpp @@ -0,0 +1,64 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_FloatMixer.h" +#include "AUD_ReadDevice.h" +#include "AUD_IReader.h" + +#include <cstring> + +AUD_ReadDevice::AUD_ReadDevice(AUD_Specs specs) +{ + m_specs = specs; + + m_mixer = new AUD_FloatMixer(); AUD_NEW("mixer") + m_mixer->setSpecs(m_specs); + + m_playing = false; + + create(); +} + +AUD_ReadDevice::~AUD_ReadDevice() +{ + destroy(); +} + +bool AUD_ReadDevice::read(sample_t* buffer, int length) +{ + if(m_playing) + mix(buffer, length); + else + if(m_specs.format == AUD_FORMAT_U8) + memset(buffer, 0x80, length * AUD_SAMPLE_SIZE(m_specs)); + else + memset(buffer, 0, length * AUD_SAMPLE_SIZE(m_specs)); + return m_playing; +} + +void AUD_ReadDevice::playing(bool playing) +{ + m_playing = playing; +} diff --git a/intern/audaspace/intern/AUD_ReadDevice.h b/intern/audaspace/intern/AUD_ReadDevice.h new file mode 100644 index 00000000000..d69b0c31ea5 --- /dev/null +++ b/intern/audaspace/intern/AUD_ReadDevice.h @@ -0,0 +1,68 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_READDEVICE +#define AUD_READDEVICE + +#include "AUD_SoftwareDevice.h" + +/** + * This device enables to let the user read raw data out of it. + */ +class AUD_ReadDevice : public AUD_SoftwareDevice +{ +protected: + virtual void playing(bool playing); + +private: + /** + * Whether the device currently. + */ + bool m_playing; + +public: + /** + * Creates a new read device. + * \param specs The wanted audio specification. + */ + AUD_ReadDevice(AUD_Specs specs); + + /** + * Closes the device. + */ + virtual ~AUD_ReadDevice(); + + /** + * Reads the next bytes into the supplied buffer. + * \param buffer The target buffer. + * \param length The length in samples to be filled. + * \return True if the reading succeeded, false if there are no sounds + * played back currently, in that case the buffer is filled with + * silence. + */ + bool read(sample_t* buffer, int length); +}; + +#endif //AUD_READDEVICE diff --git a/intern/audaspace/intern/AUD_Reference.h b/intern/audaspace/intern/AUD_Reference.h new file mode 100644 index 00000000000..9bb9d7440b3 --- /dev/null +++ b/intern/audaspace/intern/AUD_Reference.h @@ -0,0 +1,115 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_REFERENCE +#define AUD_REFERENCE + +template <class T> +/** + * This class provides reference counting functionality. + */ +class AUD_Reference +{ +private: + /// The reference. + T* m_reference; + /// The reference counter. + int* m_refcount; +public: + /** + * Creates a new reference counter. + * \param reference The reference. + */ + AUD_Reference(T* reference = 0) + { + m_reference = reference; + m_refcount = new int; AUD_NEW("int") + *m_refcount = 1; + } + + /** + * Copies a AUD_Reference object. + * \param ref The AUD_Reference object to copy. + */ + AUD_Reference(const AUD_Reference& ref) + { + m_reference = ref.m_reference; + m_refcount = ref.m_refcount; + (*m_refcount)++; + } + + /** + * Destroys a AUD_Reference object, if there's no furthere reference on the + * reference, it is destroyed as well. + */ + ~AUD_Reference() + { + (*m_refcount)--; + if(*m_refcount == 0) + { + if(m_reference != 0) + { + delete m_reference; AUD_DELETE("buffer") + } + delete m_refcount; AUD_DELETE("int") + } + } + + /** + * Copies a AUD_Reference object. + * \param ref The AUD_Reference object to copy. + */ + AUD_Reference& operator=(const AUD_Reference& ref) + { + if(&ref == this) + return *this; + + (*m_refcount)--; + if(*m_refcount == 0) + { + if(m_reference != 0) + { + delete m_reference; AUD_DELETE("buffer") + } + delete m_refcount; AUD_DELETE("int") + } + + m_reference = ref.m_reference; + m_refcount = ref.m_refcount; + (*m_refcount)++; + + return *this; + } + + /** + * Returns the reference. + */ + T* get() + { + return m_reference; + } +}; + +#endif // AUD_REFERENCE diff --git a/intern/audaspace/intern/AUD_ResampleFactory.h b/intern/audaspace/intern/AUD_ResampleFactory.h new file mode 100644 index 00000000000..5493e1005b7 --- /dev/null +++ b/intern/audaspace/intern/AUD_ResampleFactory.h @@ -0,0 +1,33 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_RESAMPLEFACTORY +#define AUD_RESAMPLEFACTORY + +#include "AUD_MixerFactory.h" + +typedef AUD_MixerFactory AUD_ResampleFactory; + +#endif //AUD_RESAMPLEFACTORY diff --git a/intern/audaspace/intern/AUD_SinusFactory.cpp b/intern/audaspace/intern/AUD_SinusFactory.cpp new file mode 100644 index 00000000000..ae878b9df60 --- /dev/null +++ b/intern/audaspace/intern/AUD_SinusFactory.cpp @@ -0,0 +1,51 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_SinusFactory.h" +#include "AUD_SinusReader.h" +#include "AUD_Space.h" + +AUD_SinusFactory::AUD_SinusFactory(double frequency, AUD_SampleRate sampleRate) +{ + m_frequency = frequency; + m_sampleRate = sampleRate; +} + +AUD_IReader* AUD_SinusFactory::createReader() +{ + AUD_IReader* reader = new AUD_SinusReader(m_frequency, m_sampleRate); + AUD_NEW("reader") + return reader; +} + +double AUD_SinusFactory::getFrequency() +{ + return m_frequency; +} + +void AUD_SinusFactory::setFrequency(double frequency) +{ + m_frequency = frequency; +} diff --git a/intern/audaspace/intern/AUD_SinusFactory.h b/intern/audaspace/intern/AUD_SinusFactory.h new file mode 100644 index 00000000000..ffb36e741b9 --- /dev/null +++ b/intern/audaspace/intern/AUD_SinusFactory.h @@ -0,0 +1,70 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SINUSFACTORY +#define AUD_SINUSFACTORY + +#include "AUD_IFactory.h" + +/** + * This factory creates a reader that plays a sine tone. + */ +class AUD_SinusFactory : public AUD_IFactory +{ +private: + /** + * The frequence of the sine wave. + */ + double m_frequency; + + /** + * The target sample rate for output. + */ + AUD_SampleRate m_sampleRate; + +public: + /** + * Creates a new sine factory. + * \param frequency The desired frequency. + * \param sampleRate The target sample rate for playback. + */ + AUD_SinusFactory(double frequency, + AUD_SampleRate sampleRate = AUD_RATE_44100); + + /** + * Returns the frequency of the sine wave. + */ + double getFrequency(); + + /** + * Sets the frequency. + * \param frequency The new frequency. + */ + void setFrequency(double frequency); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_SINUSFACTORY diff --git a/intern/audaspace/intern/AUD_SinusReader.cpp b/intern/audaspace/intern/AUD_SinusReader.cpp new file mode 100644 index 00000000000..87e2f789d66 --- /dev/null +++ b/intern/audaspace/intern/AUD_SinusReader.cpp @@ -0,0 +1,104 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_SinusReader.h" +#include "AUD_Buffer.h" + +#include <math.h> + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +AUD_SinusReader::AUD_SinusReader(double frequency, AUD_SampleRate sampleRate) +{ + m_frequency = frequency; + m_position = 0; + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") + m_sampleRate = sampleRate; +} + +AUD_SinusReader::~AUD_SinusReader() +{ + delete m_buffer; AUD_DELETE("buffer") +} + +bool AUD_SinusReader::isSeekable() +{ + return true; +} + +void AUD_SinusReader::seek(int position) +{ + m_position = position; +} + +int AUD_SinusReader::getLength() +{ + return -1; +} + +int AUD_SinusReader::getPosition() +{ + return m_position; +} + +AUD_Specs AUD_SinusReader::getSpecs() +{ + AUD_Specs specs; + specs.rate = m_sampleRate; + specs.format = AUD_FORMAT_S16; + specs.channels = AUD_CHANNELS_STEREO; + return specs; +} + +AUD_ReaderType AUD_SinusReader::getType() +{ + return AUD_TYPE_STREAM; +} + +bool AUD_SinusReader::notify(AUD_Message &message) +{ + return false; +} + +void AUD_SinusReader::read(int & length, sample_t* & buffer) +{ + // resize if necessary + if(m_buffer->getSize() < length*4) + m_buffer->resize(length*4); + + // fill with sine data + short* buf = (short*) m_buffer->getBuffer(); + for(int i=0; i < length; i++) + { + buf[i*2] = sin((m_position + i) * 2.0 * M_PI * m_frequency / + (float)m_sampleRate) * 32700; + buf[i*2+1] = buf[i*2]; + } + + buffer = (sample_t*)buf; + m_position += length; +} diff --git a/intern/audaspace/intern/AUD_SinusReader.h b/intern/audaspace/intern/AUD_SinusReader.h new file mode 100644 index 00000000000..cb060dd8a43 --- /dev/null +++ b/intern/audaspace/intern/AUD_SinusReader.h @@ -0,0 +1,86 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SINUSREADER +#define AUD_SINUSREADER + +#include "AUD_IReader.h" +class AUD_Buffer; + +/** + * This class is used for sine tone playback. + * The output format is in the 16 bit format and stereo, the sample rate can be + * specified. + * As the two channels both play the same the output could also be mono, but + * in most cases this will result in having to resample for output, so stereo + * sound is created directly. + */ +class AUD_SinusReader : public AUD_IReader +{ +private: + /** + * The frequency of the sine wave. + */ + double m_frequency; + + /** + * The current position in samples. + */ + int m_position; + + /** + * The playback buffer. + */ + AUD_Buffer* m_buffer; + + /** + * The sample rate for the output. + */ + AUD_SampleRate m_sampleRate; + +public: + /** + * Creates a new reader. + * \param frequency The frequency of the sine wave. + * \param sampleRate The output sample rate. + */ + AUD_SinusReader(double frequency, AUD_SampleRate sampleRate); + + /** + * Destroys the reader. + */ + virtual ~AUD_SinusReader(); + + virtual bool isSeekable(); + virtual void seek(int position); + virtual int getLength(); + virtual int getPosition(); + virtual AUD_Specs getSpecs(); + virtual AUD_ReaderType getType(); + virtual bool notify(AUD_Message &message); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_SINUSREADER diff --git a/intern/audaspace/intern/AUD_SoftwareDevice.cpp b/intern/audaspace/intern/AUD_SoftwareDevice.cpp new file mode 100644 index 00000000000..174ff8c8979 --- /dev/null +++ b/intern/audaspace/intern/AUD_SoftwareDevice.cpp @@ -0,0 +1,444 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_SoftwareDevice.h" +#include "AUD_IReader.h" +#include "AUD_IMixer.h" +#include "AUD_IFactory.h" +#include "AUD_SourceCaps.h" + +#include <cstring> + +/// Saves the data for playback. +struct AUD_SoftwareHandle : AUD_Handle +{ + /// The reader source. + AUD_IReader* reader; + + /// Whether to keep the source if end of it is reached. + bool keep; + + /// The volume of the source. + float volume; +}; + +typedef std::list<AUD_SoftwareHandle*>::iterator AUD_HandleIterator; + +void AUD_SoftwareDevice::create() +{ + m_playingSounds = new std::list<AUD_SoftwareHandle*>(); AUD_NEW("list") + m_pausedSounds = new std::list<AUD_SoftwareHandle*>(); AUD_NEW("list") + m_playback = false; + m_volume = 1.0; + + pthread_mutexattr_t attr; + pthread_mutexattr_init(&attr); + pthread_mutexattr_settype(&attr, PTHREAD_MUTEX_RECURSIVE); + + pthread_mutex_init(&m_mutex, &attr); + + pthread_mutexattr_destroy(&attr); +} + +void AUD_SoftwareDevice::destroy() +{ + if(m_playback) + playing(m_playback = false); + + delete m_mixer; AUD_DELETE("mixer") + + // delete all playing sounds + while(m_playingSounds->begin() != m_playingSounds->end()) + { + delete (*(m_playingSounds->begin()))->reader; AUD_DELETE("reader") + delete *(m_playingSounds->begin()); AUD_DELETE("handle") + m_playingSounds->erase(m_playingSounds->begin()); + } + delete m_playingSounds; AUD_DELETE("list") + + // delete all paused sounds + while(m_pausedSounds->begin() != m_pausedSounds->end()) + { + delete (*(m_pausedSounds->begin()))->reader; AUD_DELETE("reader") + delete *(m_pausedSounds->begin()); AUD_DELETE("handle") + m_pausedSounds->erase(m_pausedSounds->begin()); + } + delete m_pausedSounds; AUD_DELETE("list") + + pthread_mutex_destroy(&m_mutex); +} + +void AUD_SoftwareDevice::mix(sample_t* buffer, int length) +{ + lock(); + + AUD_SoftwareHandle* sound; + int len; + sample_t* buf; + int sample_size = AUD_SAMPLE_SIZE(m_specs); + std::list<AUD_SoftwareHandle*> stopSounds; + + // for all sounds + AUD_HandleIterator it = m_playingSounds->begin(); + while(it != m_playingSounds->end()) + { + sound = *it; + // increment the iterator to make sure it's valid, + // in case the sound gets deleted after stopping + ++it; + + // get the buffer from the source + len = length; + sound->reader->read(len, buf); + + m_mixer->add(buf, sound->reader->getSpecs(), len, sound->volume); + + // in case the end of the sound is reached + if(len < length) + { + if(sound->keep) + pause(sound); + else + stopSounds.push_back(sound); + } + } + + // fill with silence + if(m_specs.format == AUD_FORMAT_U8) + memset(buffer, 0x80, length * sample_size); + else + memset(buffer, 0, length * sample_size); + + // superpose + m_mixer->superpose(buffer, length, m_volume); + + while(!stopSounds.empty()) + { + sound = stopSounds.front(); + stopSounds.pop_front(); + stop(sound); + } + + unlock(); +} + +bool AUD_SoftwareDevice::isValid(AUD_Handle* handle) +{ + for(AUD_HandleIterator i = m_playingSounds->begin(); + i != m_playingSounds->end(); i++) + if(*i == handle) + return true; + for(AUD_HandleIterator i = m_pausedSounds->begin(); + i != m_pausedSounds->end(); i++) + if(*i == handle) + return true; + return false; +} + +void AUD_SoftwareDevice::setMixer(AUD_IMixer* mixer) +{ + delete m_mixer; AUD_DELETE("mixer") + m_mixer = mixer; + mixer->setSpecs(m_specs); +} + +AUD_Specs AUD_SoftwareDevice::getSpecs() +{ + return m_specs; +} + +AUD_Handle* AUD_SoftwareDevice::play(AUD_IFactory* factory, bool keep) +{ + AUD_IReader* reader = factory->createReader(); + + if(reader == NULL) + AUD_THROW(AUD_ERROR_READER); + + // prepare the reader + reader = m_mixer->prepare(reader); + if(reader == NULL) + return NULL; + + AUD_Specs rs = reader->getSpecs(); + + // play sound + AUD_SoftwareHandle* sound = new AUD_SoftwareHandle; AUD_NEW("handle") + sound->keep = keep; + sound->reader = reader; + sound->volume = 1.0; + + lock(); + m_playingSounds->push_back(sound); + + if(!m_playback) + playing(m_playback = true); + unlock(); + + return sound; +} + +bool AUD_SoftwareDevice::pause(AUD_Handle* handle) +{ + // only songs that are played can be paused + lock(); + for(AUD_HandleIterator i = m_playingSounds->begin(); + i != m_playingSounds->end(); i++) + { + if(*i == handle) + { + m_pausedSounds->push_back(*i); + m_playingSounds->erase(i); + if(m_playingSounds->empty()) + playing(m_playback = false); + unlock(); + return true; + } + } + unlock(); + return false; +} + +bool AUD_SoftwareDevice::resume(AUD_Handle* handle) +{ + // only songs that are paused can be resumed + lock(); + for(AUD_HandleIterator i = m_pausedSounds->begin(); + i != m_pausedSounds->end(); i++) + { + if(*i == handle) + { + m_playingSounds->push_back(*i); + m_pausedSounds->erase(i); + if(!m_playback) + playing(m_playback = true); + unlock(); + return true; + } + } + unlock(); + return false; +} + +bool AUD_SoftwareDevice::stop(AUD_Handle* handle) +{ + lock(); + for(AUD_HandleIterator i = m_playingSounds->begin(); + i != m_playingSounds->end(); i++) + { + if(*i == handle) + { + delete (*i)->reader; AUD_DELETE("reader") + delete *i; AUD_DELETE("handle") + m_playingSounds->erase(i); + if(m_playingSounds->empty()) + playing(m_playback = false); + unlock(); + return true; + } + } + for(AUD_HandleIterator i = m_pausedSounds->begin(); + i != m_pausedSounds->end(); i++) + { + if(*i == handle) + { + delete (*i)->reader; AUD_DELETE("reader") + delete *i; AUD_DELETE("handle") + m_pausedSounds->erase(i); + unlock(); + return true; + } + } + unlock(); + return false; +} + +bool AUD_SoftwareDevice::setKeep(AUD_Handle* handle, bool keep) +{ + lock(); + if(isValid(handle)) + { + ((AUD_SoftwareHandle*)handle)->keep = keep; + unlock(); + return true; + } + unlock(); + return false; +} + +bool AUD_SoftwareDevice::sendMessage(AUD_Handle* handle, AUD_Message &message) +{ + lock(); + + bool result = false; + + if(handle == 0) + { + for(AUD_HandleIterator i = m_playingSounds->begin(); + i != m_playingSounds->end(); i++) + result |= (*i)->reader->notify(message); + for(AUD_HandleIterator i = m_pausedSounds->begin(); + i != m_pausedSounds->end(); i++) + result |= (*i)->reader->notify(message); + } + else if(isValid(handle)) + result = ((AUD_SoftwareHandle*)handle)->reader->notify(message); + unlock(); + return result; +} + +bool AUD_SoftwareDevice::seek(AUD_Handle* handle, float position) +{ + lock(); + + if(isValid(handle)) + { + AUD_IReader* reader = ((AUD_SoftwareHandle*)handle)->reader; + reader->seek((int)(position * reader->getSpecs().rate)); + unlock(); + return true; + } + + unlock(); + return false; +} + +float AUD_SoftwareDevice::getPosition(AUD_Handle* handle) +{ + lock(); + + float position = 0.0f; + + if(isValid(handle)) + { + AUD_SoftwareHandle* h = (AUD_SoftwareHandle*)handle; + position = h->reader->getPosition() / (float)m_specs.rate; + } + + unlock(); + return position; +} + +AUD_Status AUD_SoftwareDevice::getStatus(AUD_Handle* handle) +{ + lock(); + for(AUD_HandleIterator i = m_playingSounds->begin(); + i != m_playingSounds->end(); i++) + { + if(*i == handle) + { + unlock(); + return AUD_STATUS_PLAYING; + } + } + for(AUD_HandleIterator i = m_pausedSounds->begin(); + i != m_pausedSounds->end(); i++) + { + if(*i == handle) + { + unlock(); + return AUD_STATUS_PAUSED; + } + } + unlock(); + return AUD_STATUS_INVALID; +} + +void AUD_SoftwareDevice::lock() +{ + pthread_mutex_lock(&m_mutex); +} + +void AUD_SoftwareDevice::unlock() +{ + pthread_mutex_unlock(&m_mutex); +} + +bool AUD_SoftwareDevice::checkCapability(int capability) +{ + return capability == AUD_CAPS_SOFTWARE_DEVICE || + capability == AUD_CAPS_VOLUME || + capability == AUD_CAPS_SOURCE_VOLUME; +} + +bool AUD_SoftwareDevice::setCapability(int capability, void *value) +{ + switch(capability) + { + case AUD_CAPS_VOLUME: + lock(); + m_volume = *((float*)value); + if(m_volume > 1.0) + m_volume = 1.0; + else if(m_volume < 0.0) + m_volume = 0.0; + unlock(); + return true; + case AUD_CAPS_SOURCE_VOLUME: + { + AUD_SourceCaps* caps = (AUD_SourceCaps*) value; + lock(); + if(isValid(caps->handle)) + { + AUD_SoftwareHandle* handle = (AUD_SoftwareHandle*)caps->handle; + handle->volume = caps->value; + if(handle->volume > 1.0) + handle->volume = 1.0; + else if(handle->volume < 0.0) + handle->volume = 0.0; + unlock(); + return true; + } + unlock(); + } + break; + } + return false; +} + +bool AUD_SoftwareDevice::getCapability(int capability, void *value) +{ + switch(capability) + { + case AUD_CAPS_VOLUME: + lock(); + *((float*)value) = m_volume; + unlock(); + return true; + case AUD_CAPS_SOURCE_VOLUME: + { + AUD_SourceCaps* caps = (AUD_SourceCaps*) value; + lock(); + if(isValid(caps->handle)) + { + caps->value = ((AUD_SoftwareHandle*)caps->handle)->volume; + unlock(); + return true; + } + unlock(); + } + break; + } + return false; +} diff --git a/intern/audaspace/intern/AUD_SoftwareDevice.h b/intern/audaspace/intern/AUD_SoftwareDevice.h new file mode 100644 index 00000000000..3768786fa9c --- /dev/null +++ b/intern/audaspace/intern/AUD_SoftwareDevice.h @@ -0,0 +1,137 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SOFTWAREDEVICE +#define AUD_SOFTWAREDEVICE + +#include "AUD_IDevice.h" +struct AUD_SoftwareHandle; +class AUD_IMixer; + +#include <list> +#include <pthread.h> + +/** + * This device plays is a generic device with software mixing. + * Classes implementing this have to: + * - Implement the playing function. + * - Prepare the m_specs, m_mixer variables. + * - Call the create and destroy functions. + * - Call the mix function to retrieve their audio data. + */ +class AUD_SoftwareDevice : public AUD_IDevice +{ +protected: + /** + * The specification of the device. + */ + AUD_Specs m_specs; + + /** + * The mixer. Will be deleted by the destroy function. + */ + AUD_IMixer* m_mixer; + + /** + * Initializes member variables. + */ + void create(); + + /** + * Uninitializes member variables. + */ + void destroy(); + + /** + * Mixes the next samples into the buffer. + * \param buffer The target buffer. + * \param length The length in samples to be filled. + */ + void mix(sample_t* buffer, int length); + + /** + * This function tells the device, to start or pause playback. + * \param playing True if device should playback. + */ + virtual void playing(bool playing)=0; + +private: + /** + * The list of sounds that are currently playing. + */ + std::list<AUD_SoftwareHandle*>* m_playingSounds; + + /** + * The list of sounds that are currently paused. + */ + std::list<AUD_SoftwareHandle*>* m_pausedSounds; + + /** + * Whether there is currently playback. + */ + bool m_playback; + + /** + * The mutex for locking. + */ + pthread_mutex_t m_mutex; + + /** + * The overall volume of the device. + */ + float m_volume; + + /** + * Checks if a handle is valid. + * \param handle The handle to check. + * \return Whether the handle is valid. + */ + bool isValid(AUD_Handle* handle); + +public: + /** + * Sets a new mixer. + * \param mixer The new mixer. + */ + void setMixer(AUD_IMixer* mixer); + + virtual AUD_Specs getSpecs(); + virtual AUD_Handle* play(AUD_IFactory* factory, bool keep = false); + virtual bool pause(AUD_Handle* handle); + virtual bool resume(AUD_Handle* handle); + virtual bool stop(AUD_Handle* handle); + virtual bool setKeep(AUD_Handle* handle, bool keep); + virtual bool sendMessage(AUD_Handle* handle, AUD_Message &message); + virtual bool seek(AUD_Handle* handle, float position); + virtual float getPosition(AUD_Handle* handle); + virtual AUD_Status getStatus(AUD_Handle* handle); + virtual void lock(); + virtual void unlock(); + virtual bool checkCapability(int capability); + virtual bool setCapability(int capability, void *value); + virtual bool getCapability(int capability, void *value); +}; + +#endif //AUD_SOFTWAREDEVICE diff --git a/intern/audaspace/intern/AUD_SourceCaps.h b/intern/audaspace/intern/AUD_SourceCaps.h new file mode 100644 index 00000000000..b1edd2b9b4e --- /dev/null +++ b/intern/audaspace/intern/AUD_SourceCaps.h @@ -0,0 +1,41 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SOURCECAPS +#define AUD_SOURCECAPS + +#include "AUD_IDevice.h" + +/// The structure for source capabilities. +typedef struct +{ + /// The source to apply the capability on. + AUD_Handle* handle; + + /// The value for the capability. + float value; +} AUD_SourceCaps; + +#endif //AUD_SOURCECAPS diff --git a/intern/audaspace/intern/AUD_Space.h b/intern/audaspace/intern/AUD_Space.h new file mode 100644 index 00000000000..123d9c272a0 --- /dev/null +++ b/intern/audaspace/intern/AUD_Space.h @@ -0,0 +1,295 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SPACE +#define AUD_SPACE + +/// The size of a format in bytes. +#define AUD_FORMAT_SIZE(format) (format & 0x0F) +/// The size of a sample in the specified format in bytes. +#define AUD_SAMPLE_SIZE(specs) (specs.channels * (specs.format & 0x0F)) +/// Throws a AUD_Exception with the provided error code. +#define AUD_THROW(exception) { AUD_Exception e; e.error = exception; throw e; } + +/// Returns the smaller of the two values. +#define AUD_MIN(a, b) (((a) < (b)) ? (a) : (b)) +/// Returns the bigger of the two values. +#define AUD_MAX(a, b) (((a) > (b)) ? (a) : (b)) + +// 5 sec * 44100 samples/sec * 4 bytes/sample * 6 channels +/// The size by which a buffer should be resized if the final extent is unknown. +#define AUD_BUFFER_RESIZE_BYTES 5292000 + +/// The default playback buffer size of a device. +#define AUD_DEFAULT_BUFFER_SIZE 1024 + +// Capability defines + +/// This capability checks whether a device is a 3D device. See AUD_I3DDevice.h. +#define AUD_CAPS_3D_DEVICE 0x0001 + +/** + * This capability checks whether a device is a software device. See + * AUD_SoftwareDevice. + */ +#define AUD_CAPS_SOFTWARE_DEVICE 0x0002 + +/** + * This capability enables the user to set the overall volume of the device. + * You can set and get it with the pointer pointing to a float value between + * 0.0 (muted) and 1.0 (maximum volume). + */ +#define AUD_CAPS_VOLUME 0x0101 + +/** + * This capability enables the user to set the volume of a source. + * You can set and get it with the pointer pointing to a AUD_SourceValue + * structure defined in AUD_SourceCaps.h. + */ +#define AUD_CAPS_SOURCE_VOLUME 0x1001 + +/** + * This capability enables the user to set the pitch of a source. + * You can set and get it with the pointer pointing to a AUD_SourceValue + * structure defined in AUD_SourceCaps.h. + */ +#define AUD_CAPS_SOURCE_PITCH 0x1002 + +/** + * This capability enables the user to buffer a factory into the device. + * Setting with the factory as pointer loads the factory into a device internal + * buffer. Play function calls with the buffered factory as argument result in + * the internal buffer being played back, so there's no reader created, what + * also results in not being able to send messages to that handle. + * A repeated call with the same factory doesn't do anything. + * A set call with a NULL pointer results in all buffered factories being + * deleted. + * \note This is only possible with factories that create readers of the buffer + * type. + */ +#define AUD_CAPS_BUFFERED_FACTORY 0x2001 + +// Used for debugging memory leaks. +//#define AUD_DEBUG_MEMORY + +#ifdef AUD_DEBUG_MEMORY +int AUD_References(int count = 0, const char* text = ""); +#define AUD_NEW(text) AUD_References(1, text); +#define AUD_DELETE(text) AUD_References(-1, text); +#else +#define AUD_NEW(text) +#define AUD_DELETE(text) +#endif + +/** + * The format of a sample. + * The last 4 bit save the byte count of the format. + */ +typedef enum +{ + AUD_FORMAT_INVALID = 0x00, /// Invalid sample format. + AUD_FORMAT_U8 = 0x01, /// 1 byte unsigned byte. + AUD_FORMAT_S16 = 0x12, /// 2 byte signed integer. + AUD_FORMAT_S24 = 0x13, /// 3 byte signed integer. + AUD_FORMAT_S32 = 0x14, /// 4 byte signed integer. + AUD_FORMAT_FLOAT32 = 0x24, /// 4 byte float. + AUD_FORMAT_FLOAT64 = 0x28 /// 8 byte float. +} AUD_SampleFormat; + +/// The channel count. +typedef enum +{ + AUD_CHANNELS_INVALID = 0, /// Invalid channel count. + AUD_CHANNELS_MONO = 1, /// Mono. + AUD_CHANNELS_STEREO = 2, /// Stereo. + AUD_CHANNELS_STEREO_LFE = 3, /// Stereo with LFE channel. + AUD_CHANNELS_SURROUND4 = 4, /// 4 channel surround sound. + AUD_CHANNELS_SURROUND5 = 5, /// 5 channel surround sound. + AUD_CHANNELS_SURROUND51 = 6, /// 5.1 surround sound. + AUD_CHANNELS_SURROUND61 = 7, /// 6.1 surround sound. + AUD_CHANNELS_SURROUND71 = 8, /// 7.1 surround sound. + AUD_CHANNELS_SURROUND72 = 9 /// 7.2 surround sound. +} AUD_Channels; + +/** + * The sample rate tells how many samples are played back within one second. + * Some exotic formats may use other sample rates than provided here. + */ +typedef enum +{ + AUD_RATE_INVALID = 0, /// Invalid sample rate. + AUD_RATE_8000 = 8000, /// 8000 Hz. + AUD_RATE_16000 = 16000, /// 16000 Hz. + AUD_RATE_11025 = 11025, /// 11025 Hz. + AUD_RATE_22050 = 22050, /// 22050 Hz. + AUD_RATE_32000 = 32000, /// 32000 Hz. + AUD_RATE_44100 = 44100, /// 44100 Hz. + AUD_RATE_48000 = 48000, /// 48000 Hz. + AUD_RATE_88200 = 88200, /// 88200 Hz. + AUD_RATE_96000 = 96000, /// 96000 Hz. + AUD_RATE_192000 = 192000 /// 192000 Hz. +} AUD_SampleRate; + +/** + * Type of a reader. + * @see AUD_IReader for details. + */ +typedef enum +{ + AUD_TYPE_INVALID = 0, /// Invalid reader type. + AUD_TYPE_BUFFER, /// Reader reads from a buffer. + AUD_TYPE_STREAM /// Reader reads from a stream. +} AUD_ReaderType; + +/// Status of a playback handle. +typedef enum +{ + AUD_STATUS_INVALID = 0, /// Invalid handle. Maybe due to stopping. + AUD_STATUS_PLAYING, /// Sound is playing. + AUD_STATUS_PAUSED /// Sound is being paused. +} AUD_Status; + +/// Error codes for exceptions (C++ library) or for return values (C API). +typedef enum +{ + AUD_NO_ERROR = 0, + AUD_ERROR_READER, + AUD_ERROR_FACTORY, + AUD_ERROR_FILE, + AUD_ERROR_FFMPEG, + AUD_ERROR_SDL, + AUD_ERROR_OPENAL, + AUD_ERROR_JACK +} AUD_Error; + +/// Message codes. +typedef enum +{ + AUD_MSG_INVALID = 0, /// Invalid message. + AUD_MSG_LOOP, /// Loop reader message. + AUD_MSG_VOLUME /// Volume reader message. +} AUD_MessageType; + +/// Fading types. +typedef enum +{ + AUD_FADE_IN, + AUD_FADE_OUT +} AUD_FadeType; + +/// 3D device settings. +typedef enum +{ + AUD_3DS_NONE, /// No setting. + AUD_3DS_SPEED_OF_SOUND, /// Speed of sound. + AUD_3DS_DOPPLER_FACTOR, /// Doppler factor. + AUD_3DS_DISTANCE_MODEL /// Distance model. +} AUD_3DSetting; + +/// Possible distance models for the 3D device. +#define AUD_DISTANCE_MODEL_NONE 0.0f +#define AUD_DISTANCE_MODEL_INVERSE 1.0f +#define AUD_DISTANCE_MODEL_INVERSE_CLAMPED 2.0f +#define AUD_DISTANCE_MODEL_LINEAR 3.0f +#define AUD_DISTANCE_MODEL_LINEAR_CLAMPED 4.0f +#define AUD_DISTANCE_MODEL_EXPONENT 5.0f +#define AUD_DISTANCE_MODEL_EXPONENT_CLAMPED 6.0f + +/// 3D source settings. +typedef enum +{ + AUD_3DSS_NONE, /// No setting. + AUD_3DSS_IS_RELATIVE, /// > 0 tells that the sound source is + /// relative to the listener + AUD_3DSS_MIN_GAIN, /// Minimum gain. + AUD_3DSS_MAX_GAIN, /// Maximum gain. + AUD_3DSS_REFERENCE_DISTANCE, /// Reference distance. + AUD_3DSS_MAX_DISTANCE, /// Maximum distance. + AUD_3DSS_ROLLOFF_FACTOR, /// Rolloff factor. + AUD_3DSS_CONE_INNER_ANGLE, /// Cone inner angle. + AUD_3DSS_CONE_OUTER_ANGLE, /// Cone outer angle. + AUD_3DSS_CONE_OUTER_GAIN /// Cone outer gain. +} AUD_3DSourceSetting; + +/// Sample pointer type. +typedef unsigned char sample_t; + +/// Specification of a sound source or device. +typedef struct +{ + /// Sample rate in Hz. + AUD_SampleRate rate; + + /// Sample format. + AUD_SampleFormat format; + + /// Channel count. + AUD_Channels channels; +} AUD_Specs; + +/// Exception structure. +typedef struct +{ + /** + * Error code. + * \see AUD_Error + */ + AUD_Error error; + + // void* userData; - for the case it is needed someday +} AUD_Exception; + +/// Message structure. +typedef struct +{ + /** + * The message type. + */ + AUD_MessageType type; + + union + { + // loop reader + int loopcount; + + // volume reader + float volume; + }; +} AUD_Message; + +/// Handle structure, for inherition. +typedef struct +{ + /// x, y and z coordinates of the object. + float position[3]; + + /// x, y and z coordinates telling the velocity and direction of the object. + float velocity[3]; + + /// 3x3 matrix telling the orientation of the object. + float orientation[9]; +} AUD_3DData; + +#endif //AUD_SPACE diff --git a/intern/audaspace/intern/AUD_StreamBufferFactory.cpp b/intern/audaspace/intern/AUD_StreamBufferFactory.cpp new file mode 100644 index 00000000000..11391fa4a08 --- /dev/null +++ b/intern/audaspace/intern/AUD_StreamBufferFactory.cpp @@ -0,0 +1,80 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_StreamBufferFactory.h" +#include "AUD_BufferReader.h" +#include "AUD_Buffer.h" + +#include <cstring> + +AUD_StreamBufferFactory::AUD_StreamBufferFactory(AUD_IFactory* factory) +{ + AUD_IReader* reader = factory->createReader(); + + if(reader == NULL) + AUD_THROW(AUD_ERROR_READER); + + m_specs = reader->getSpecs(); + m_buffer = AUD_Reference<AUD_Buffer>(new AUD_Buffer()); AUD_NEW("buffer") + + int sample_size = AUD_SAMPLE_SIZE(m_specs); + int length; + int index = 0; + sample_t* buffer; + + // get an aproximated size if possible + int size = reader->getLength(); + + if(size <= 0) + size = AUD_BUFFER_RESIZE_BYTES / sample_size; + else + size += m_specs.rate; + + // as long as we fill our buffer to the end + while(index == m_buffer.get()->getSize() / sample_size) + { + // increase + m_buffer.get()->resize(size*sample_size, true); + + // read more + length = size-index; + reader->read(length, buffer); + memcpy(m_buffer.get()->getBuffer()+index*sample_size, + buffer, + length*sample_size); + size += AUD_BUFFER_RESIZE_BYTES / sample_size; + index += length; + } + + m_buffer.get()->resize(index*sample_size, true); + delete reader; AUD_DELETE("reader") +} + +AUD_IReader* AUD_StreamBufferFactory::createReader() +{ + AUD_IReader* reader = new AUD_BufferReader(m_buffer, m_specs); + AUD_NEW("reader") + return reader; +} diff --git a/intern/audaspace/intern/AUD_StreamBufferFactory.h b/intern/audaspace/intern/AUD_StreamBufferFactory.h new file mode 100644 index 00000000000..eda06f6c10c --- /dev/null +++ b/intern/audaspace/intern/AUD_StreamBufferFactory.h @@ -0,0 +1,62 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_STREAMBUFFERFACTORY +#define AUD_STREAMBUFFERFACTORY + +#include "AUD_IFactory.h" +#include "AUD_Reference.h" +class AUD_Buffer; + +/** + * This factory creates a buffer out of a reader. This way normally streamed + * sound sources can be loaded into memory for buffered playback. + */ +class AUD_StreamBufferFactory : public AUD_IFactory +{ +private: + /** + * The buffer that holds the audio data. + */ + AUD_Reference<AUD_Buffer> m_buffer; + + /** + * The specification of the samples. + */ + AUD_Specs m_specs; + +public: + /** + * Creates the factory and reads the reader created by the factory supplied + * to the buffer. + * \param factory The factory that creates the reader for buffering. + * \exception AUD_Exception Thrown if the reader cannot be created. + */ + AUD_StreamBufferFactory(AUD_IFactory* factory); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_STREAMBUFFERFACTORY diff --git a/intern/audaspace/intern/Makefile b/intern/audaspace/intern/Makefile new file mode 100644 index 00000000000..4bdca04c1cb --- /dev/null +++ b/intern/audaspace/intern/Makefile @@ -0,0 +1,70 @@ +# +# $Id$ +# +# ***** BEGIN GPL LICENSE BLOCK ***** +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 +# of the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software Foundation, +# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. +# All rights reserved. +# +# The Original Code is: all of this file. +# +# Contributor(s): none yet. +# +# ***** END GPL LICENSE BLOCK ***** +# +# + +LIBNAME = audaspace +DIR = $(OCGDIR)/intern/audaspace + +include nan_compile.mk + +CCFLAGS += $(LEVEL_1_CPP_WARNINGS) + +ifeq ($(WITH_SDL),true) + CPPFLAGS += -DWITH_SDL + CPPFLAGS += $(NAN_SDLCFLAGS) +endif + +ifeq ($(WITH_OPENAL),true) + CPPFLAGS += -DWITH_OPENAL + CPPFLAGS += -I../OpenAL +endif + +ifeq ($(WITH_JACK),true) + CPPFLAGS += -DWITH_JACK + CPPFLAGS += $(NAN_JACKCFLAGS) + CPPFLAGS += -I../jack +endif + +ifeq ($(WITH_FFMPEG),true) + CPPFLAGS += -DWITH_FFMPEG + CPPFLAGS += $(NAN_FFMPEGCFLAGS) +endif + +ifeq ($(WITH_SNDFILE),true) + CPPFLAGS += -DWITH_SNDFILE + CPPFLAGS += -I../sndfile +endif + +CPPFLAGS += -I$(LCGDIR)/samplerate/include/ +CPPFLAGS += -I../ffmpeg +CPPFLAGS += -I../FX +CPPFLAGS += -I../SDL +CPPFLAGS += -I../SRC +CPPFLAGS += -I.. +CPPFLAGS += -I. diff --git a/intern/audaspace/jack/AUD_JackDevice.cpp b/intern/audaspace/jack/AUD_JackDevice.cpp new file mode 100644 index 00000000000..4d8ab93d672 --- /dev/null +++ b/intern/audaspace/jack/AUD_JackDevice.cpp @@ -0,0 +1,149 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_FloatMixer.h" +#include "AUD_JackDevice.h" +#include "AUD_IReader.h" +#include "AUD_Buffer.h" + +#include <stdio.h> +#include <stdlib.h> + +// AUD_XXX this is not realtime suitable! +int AUD_JackDevice::jack_mix(jack_nframes_t length, void *data) +{ + AUD_JackDevice* device = (AUD_JackDevice*)data; + unsigned int samplesize = AUD_SAMPLE_SIZE(device->m_specs); + if(device->m_buffer->getSize() < samplesize * length) + device->m_buffer->resize(samplesize * length); + device->mix(device->m_buffer->getBuffer(), length); + + float* in = (float*) device->m_buffer->getBuffer(); + float* out; + int count = device->m_specs.channels; + + for(unsigned int i = 0; i < count; i++) + { + out = (float*)jack_port_get_buffer(device->m_ports[i], length); + for(unsigned int j = 0; j < length; j++) + out[j] = in[j * count + i]; + } + + return 0; +} + +void AUD_JackDevice::jack_shutdown(void *data) +{ + AUD_JackDevice* device = (AUD_JackDevice*)data; + device->m_valid = false; +} + +AUD_JackDevice::AUD_JackDevice(AUD_Specs specs) +{ + if(specs.channels == AUD_CHANNELS_INVALID) + specs.channels = AUD_CHANNELS_STEREO; + + // jack uses floats + m_specs = specs; + m_specs.format = AUD_FORMAT_FLOAT32; + + jack_options_t options = JackNullOption; + jack_status_t status; + + // open client + m_client = jack_client_open("Blender", options, &status); + if(m_client == NULL) + AUD_THROW(AUD_ERROR_JACK); + + m_buffer = new AUD_Buffer(); AUD_NEW("buffer"); + + // set callbacks + jack_set_process_callback(m_client, AUD_JackDevice::jack_mix, this); + jack_on_shutdown(m_client, AUD_JackDevice::jack_shutdown, this); + + // register our output channels which are called ports in jack + m_ports = new jack_port_t*[m_specs.channels]; AUD_NEW("jack_port") + + try + { + char portname[64]; + for(int i = 0; i < m_specs.channels; i++) + { + sprintf(portname, "out %d", i+1); + m_ports[i] = jack_port_register(m_client, portname, + JACK_DEFAULT_AUDIO_TYPE, + JackPortIsOutput, 0); + if(m_ports[i] == NULL) + AUD_THROW(AUD_ERROR_JACK); + } + + m_specs.rate = (AUD_SampleRate)jack_get_sample_rate(m_client); + + // activate the client + if(jack_activate(m_client)) + AUD_THROW(AUD_ERROR_JACK); + } + catch(AUD_Exception) + { + jack_client_close(m_client); + delete[] m_ports; AUD_DELETE("jack_port") + delete m_buffer; AUD_DELETE("buffer"); + throw; + } + + const char** ports = jack_get_ports(m_client, NULL, NULL, + JackPortIsPhysical | JackPortIsInput); + if(ports != NULL) + { + for(int i = 0; i < m_specs.channels && ports[i]; i++) + jack_connect(m_client, jack_port_name(m_ports[i]), ports[i]); + + free(ports); + } + + m_mixer = new AUD_FloatMixer(); AUD_NEW("mixer") + m_mixer->setSpecs(m_specs); + + m_valid = true; + + create(); +} + +AUD_JackDevice::~AUD_JackDevice() +{ + lock(); + if(m_valid) + jack_client_close(m_client); + delete[] m_ports; AUD_DELETE("jack_port") + delete m_buffer; AUD_DELETE("buffer"); + unlock(); + + destroy(); +} + +void AUD_JackDevice::playing(bool playing) +{ + // Do nothing. +} diff --git a/intern/audaspace/jack/AUD_JackDevice.h b/intern/audaspace/jack/AUD_JackDevice.h new file mode 100644 index 00000000000..f0c887a2f43 --- /dev/null +++ b/intern/audaspace/jack/AUD_JackDevice.h @@ -0,0 +1,92 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_JACKDEVICE +#define AUD_JACKDEVICE + + +#include "AUD_SoftwareDevice.h" +class AUD_Buffer; + +#include <jack.h> + +/** + * This device plays back through Jack. + */ +class AUD_JackDevice : public AUD_SoftwareDevice +{ +private: + /** + * The output ports of jack. + */ + jack_port_t** m_ports; + + /** + * The jack client. + */ + jack_client_t* m_client; + + /** + * The output buffer. + */ + AUD_Buffer* m_buffer; + + /** + * Whether the device is valid. + */ + bool m_valid; + + /** + * Invalidates the jack device. + * \param data The jack device that gets invalidet by jack. + */ + static void jack_shutdown(void *data); + + /** + * Mixes the next bytes into the buffer. + * \param length The length in samples to be filled. + * \param data A pointer to the jack device. + * \return 0 what shows success. + */ + static int jack_mix(jack_nframes_t length, void *data); + +protected: + virtual void playing(bool playing); + +public: + /** + * Creates a Jack client for audio output. + * \param specs The wanted audio specification, where only the channel count is important. + * \exception AUD_Exception Thrown if the audio device cannot be opened. + */ + AUD_JackDevice(AUD_Specs specs); + + /** + * Closes the Jack client. + */ + virtual ~AUD_JackDevice(); +}; + +#endif //AUD_JACKDEVICE diff --git a/intern/audaspace/jack/Makefile b/intern/audaspace/jack/Makefile new file mode 100644 index 00000000000..23cadf559c0 --- /dev/null +++ b/intern/audaspace/jack/Makefile @@ -0,0 +1,44 @@ +# +# $Id$ +# +# ***** BEGIN GPL LICENSE BLOCK ***** +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 +# of the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software Foundation, +# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. +# All rights reserved. +# +# The Original Code is: all of this file. +# +# Contributor(s): GSR +# +# ***** END GPL LICENSE BLOCK ***** +# +# + +LIBNAME = aud_jack +DIR = $(OCGDIR)/intern/audaspace + +include nan_compile.mk + +CCFLAGS += $(LEVEL_1_CPP_WARNINGS) + +# If we are here, jack is enable. +CPPFLAGS += -DWITH_JACK +CPPFLAGS += $(NAN_JACKCFLAGS) + +CPPFLAGS += -I../intern +CPPFLAGS += -I.. +CPPFLAGS += -I. diff --git a/intern/audaspace/make/msvc_9_0/audaspace.vcproj b/intern/audaspace/make/msvc_9_0/audaspace.vcproj new file mode 100644 index 00000000000..93dcdd66628 --- /dev/null +++ b/intern/audaspace/make/msvc_9_0/audaspace.vcproj @@ -0,0 +1,768 @@ +<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
+ ProjectType="Visual C++"
+ Version="9,00"
+ Name="INT_audaspace"
+ ProjectGUID="{87032FD2-9BA0-6B43-BE33-8902BA8F9172}"
+ RootNamespace="audaspace"
+ TargetFrameworkVersion="131072"
+ >
+ <Platforms>
+ <Platform
+ Name="Win32"
+ />
+ </Platforms>
+ <ToolFiles>
+ </ToolFiles>
+ <Configurations>
+ <Configuration
+ Name="Blender Release|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\intern\audaspace"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\intern\audaspace"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
+ Name="VCCLCompilerTool"
+ Optimization="2"
+ InlineFunctionExpansion="2"
+ AdditionalIncludeDirectories="..\..;..\..\ffmpeg;..\..\FX;..\..\intern;..\..\OpenAL;..\..\SDL;..\..\SRC;..\..\sndfile;..\..\..\..\..\lib\windows\pthreads\include;..\..\..\..\..\lib\windows\samplerate\include;..\..\..\..\..\lib\windows\ffmpeg\include;..\..\..\..\..\lib\windows\ffmpeg\include\msvc;..\..\..\..\..\lib\windows\sdl\include;..\..\..\..\..\lib\windows\openal\include;..\..\..\..\..\lib\windows\jack\include;..\..\..\..\..\lib\windows\sndfile\include"
+ PreprocessorDefinitions="WIN32,NDEBUG,_LIB,WITH_FFMPEG,WITH_SDL,WITH_OPENAL"
+ StringPooling="true"
+ RuntimeLibrary="0"
+ EnableFunctionLevelLinking="true"
+ UsePrecompiledHeader="0"
+ PrecompiledHeaderFile="..\..\..\..\..\build\msvc_9\intern\audaspace\audaspace.pch"
+ AssemblerListingLocation="..\..\..\..\..\build\msvc_9\intern\audaspace\"
+ ObjectFile="..\..\..\..\..\build\msvc_9\intern\audaspace\"
+ ProgramDataBaseFileName="..\..\..\..\..\build\msvc_9\intern\audaspace\"
+ WarningLevel="2"
+ SuppressStartupBanner="true"
+ CompileAs="0"
+ />
+ <Tool
+ Name="VCManagedResourceCompilerTool"
+ />
+ <Tool
+ Name="VCResourceCompilerTool"
+ PreprocessorDefinitions="NDEBUG"
+ Culture="1043"
+ />
+ <Tool
+ Name="VCPreLinkEventTool"
+ />
+ <Tool
+ Name="VCLibrarianTool"
+ OutputFile="..\..\..\..\..\build\msvc_9\libs\intern\libaudaspace.lib"
+ SuppressStartupBanner="true"
+ />
+ <Tool
+ Name="VCALinkTool"
+ />
+ <Tool
+ Name="VCXDCMakeTool"
+ />
+ <Tool
+ Name="VCBscMakeTool"
+ />
+ <Tool
+ Name="VCFxCopTool"
+ />
+ <Tool
+ Name="VCPostBuildEventTool"
+ />
+ </Configuration>
+ <Configuration
+ Name="Blender Debug|Win32"
+ OutputDirectory="..\..\..\..\..\build\msvc_9\intern\audaspace\debug"
+ IntermediateDirectory="..\..\..\..\..\build\msvc_9\intern\audaspace\debug"
+ ConfigurationType="4"
+ InheritedPropertySheets="$(VCInstallDir)VCProjectDefaults\UpgradeFromVC71.vsprops"
+ UseOfMFC="0"
+ ATLMinimizesCRunTimeLibraryUsage="false"
+ CharacterSet="2"
+ >
+ <Tool
+ Name="VCPreBuildEventTool"
+ />
+ <Tool
+ Name="VCCustomBuildTool"
+ />
+ <Tool
+ Name="VCXMLDataGeneratorTool"
+ />
+ <Tool
+ Name="VCWebServiceProxyGeneratorTool"
+ />
+ <Tool
+ Name="VCMIDLTool"
+ />
+ <Tool
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+ >
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+ RelativePath="..\..\intern\AUD_FileFactory.h"
+ >
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+ >
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+ <File
+ RelativePath="..\..\intern\AUD_FloatMixer.h"
+ >
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+ <File
+ RelativePath="..\..\intern\AUD_I3DDevice.h"
+ >
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+ <File
+ RelativePath="..\..\intern\AUD_IDevice.h"
+ >
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+ <File
+ RelativePath="..\..\intern\AUD_IFactory.h"
+ >
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+ RelativePath="..\..\intern\AUD_IMixer.h"
+ >
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+ >
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+ RelativePath="..\..\intern\AUD_MixerFactory.cpp"
+ >
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+ RelativePath="..\..\intern\AUD_MixerFactory.h"
+ >
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+ >
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+ RelativePath="..\..\intern\AUD_NULLDevice.h"
+ >
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+ <File
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+ >
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+ RelativePath="..\..\intern\AUD_ReadDevice.h"
+ >
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+ RelativePath="..\..\intern\AUD_Reference.h"
+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ RelativePath="..\..\intern\AUD_SoftwareDevice.h"
+ >
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+ RelativePath="..\..\intern\AUD_SourceCaps.h"
+ >
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+ RelativePath="..\..\intern\AUD_Space.h"
+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ RelativePath="..\..\FX\AUD_LoopReader.h"
+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ >
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+ RelativePath="..\..\SDL\AUD_SDLMixerReader.h"
+ >
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+ >
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+ RelativePath="..\..\SRC\AUD_SRCResampleFactory.cpp"
+ >
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+ >
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+ <File
+ RelativePath="..\..\SRC\AUD_SRCResampleReader.cpp"
+ >
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+ <File
+ RelativePath="..\..\SRC\AUD_SRCResampleReader.h"
+ >
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+ </Filter>
+ <Filter
+ Name="jack"
+ >
+ <File
+ RelativePath="..\..\jack\AUD_JackDevice.cpp"
+ >
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+ RelativePath="..\..\jack\AUD_JackDevice.h"
+ >
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+ <Filter
+ Name="sndfile"
+ >
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+ RelativePath="..\..\sndfile\AUD_SndFileFactory.cpp"
+ >
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+ >
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+ RelativePath="..\..\sndfile\AUD_SndFileReader.cpp"
+ >
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+ <File
+ RelativePath="..\..\sndfile\AUD_SndFileReader.h"
+ >
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+ </Filter>
+ <File
+ RelativePath="..\..\AUD_C-API.h"
+ >
+ </File>
+ </Files>
+ <Globals>
+ </Globals>
+</VisualStudioProject>
diff --git a/intern/audaspace/sndfile/AUD_SndFileFactory.cpp b/intern/audaspace/sndfile/AUD_SndFileFactory.cpp new file mode 100644 index 00000000000..bac6dc321f4 --- /dev/null +++ b/intern/audaspace/sndfile/AUD_SndFileFactory.cpp @@ -0,0 +1,67 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_SndFileFactory.h" +#include "AUD_SndFileReader.h" +#include "AUD_Buffer.h" + +#include <cstring> + +AUD_SndFileFactory::AUD_SndFileFactory(const char* filename) +{ + if(filename != NULL) + { + m_filename = new char[strlen(filename)+1]; AUD_NEW("string") + strcpy(m_filename, filename); + } + else + m_filename = NULL; +} + +AUD_SndFileFactory::AUD_SndFileFactory(unsigned char* buffer, int size) +{ + m_filename = NULL; + m_buffer = AUD_Reference<AUD_Buffer>(new AUD_Buffer(size)); + memcpy(m_buffer.get()->getBuffer(), buffer, size); +} + +AUD_SndFileFactory::~AUD_SndFileFactory() +{ + if(m_filename) + { + delete[] m_filename; AUD_DELETE("string") + } +} + +AUD_IReader* AUD_SndFileFactory::createReader() +{ + AUD_IReader* reader; + if(m_filename) + reader = new AUD_SndFileReader(m_filename); + else + reader = new AUD_SndFileReader(m_buffer); + AUD_NEW("reader") + return reader; +} diff --git a/intern/audaspace/sndfile/AUD_SndFileFactory.h b/intern/audaspace/sndfile/AUD_SndFileFactory.h new file mode 100644 index 00000000000..98187ff1590 --- /dev/null +++ b/intern/audaspace/sndfile/AUD_SndFileFactory.h @@ -0,0 +1,71 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SNDFILEFACTORY +#define AUD_SNDFILEFACTORY + +#include "AUD_IFactory.h" +#include "AUD_Reference.h" +class AUD_Buffer; + +/** + * This factory reads a sound file via libsndfile. + */ +class AUD_SndFileFactory : public AUD_IFactory +{ +private: + /** + * The filename of the sound source file. + */ + char* m_filename; + + /** + * The buffer to read from. + */ + AUD_Reference<AUD_Buffer> m_buffer; + +public: + /** + * Creates a new factory. + * \param filename The sound file path. + */ + AUD_SndFileFactory(const char* filename); + + /** + * Creates a new factory. + * \param buffer The buffer to read from. + * \param size The size of the buffer. + */ + AUD_SndFileFactory(unsigned char* buffer, int size); + + /** + * Destroys the factory. + */ + ~AUD_SndFileFactory(); + + virtual AUD_IReader* createReader(); +}; + +#endif //AUD_SNDFILEFACTORY diff --git a/intern/audaspace/sndfile/AUD_SndFileReader.cpp b/intern/audaspace/sndfile/AUD_SndFileReader.cpp new file mode 100644 index 00000000000..485818552bb --- /dev/null +++ b/intern/audaspace/sndfile/AUD_SndFileReader.cpp @@ -0,0 +1,233 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#include "AUD_SndFileReader.h" +#include "AUD_Buffer.h" + +#include <cstring> + +// This function transforms a SampleFormat to our own sample format +static inline AUD_SampleFormat SNDFILE_TO_AUD(int fmt) +{ + switch(fmt & SF_FORMAT_SUBMASK) + { + // only read s16, s32 and double as they are + case SF_FORMAT_PCM_16: + return AUD_FORMAT_S16; + case SF_FORMAT_PCM_32: + return AUD_FORMAT_S32; + case SF_FORMAT_DOUBLE: + return AUD_FORMAT_FLOAT64; + // read all other formats as floats + default: + return AUD_FORMAT_FLOAT32; + } +} + +sf_count_t AUD_SndFileReader::vio_get_filelen(void *user_data) +{ + AUD_SndFileReader* reader = (AUD_SndFileReader*)user_data; + return reader->m_membuffer.get()->getSize(); +} + +sf_count_t AUD_SndFileReader::vio_seek(sf_count_t offset, int whence, void *user_data) +{ + AUD_SndFileReader* reader = (AUD_SndFileReader*)user_data; + + switch(whence) + { + case SEEK_SET: + reader->m_memoffset = offset; + break; + case SEEK_CUR: + reader->m_memoffset = reader->m_memoffset + offset; + break; + case SEEK_END: + reader->m_memoffset = reader->m_membuffer.get()->getSize() + offset; + break; + } + + return reader->m_memoffset; +} + +sf_count_t AUD_SndFileReader::vio_read(void *ptr, sf_count_t count, void *user_data) +{ + AUD_SndFileReader* reader = (AUD_SndFileReader*)user_data; + + if(reader->m_memoffset + count > reader->m_membuffer.get()->getSize()) + count = reader->m_membuffer.get()->getSize() - reader->m_memoffset; + + memcpy(ptr, reader->m_membuffer.get()->getBuffer() + reader->m_memoffset, count); + reader->m_memoffset += count; + + return count; +} + +sf_count_t AUD_SndFileReader::vio_tell(void *user_data) +{ + AUD_SndFileReader* reader = (AUD_SndFileReader*)user_data; + + return reader->m_memoffset; +} + +AUD_SndFileReader::AUD_SndFileReader(const char* filename) +{ + SF_INFO sfinfo; + + sfinfo.format = 0; + m_sndfile = sf_open(filename, SFM_READ, &sfinfo); + + if(!m_sndfile) + AUD_THROW(AUD_ERROR_FILE); + + m_specs.channels = (AUD_Channels) sfinfo.channels; + m_specs.format = SNDFILE_TO_AUD(sfinfo.format); + m_specs.rate = (AUD_SampleRate) sfinfo.samplerate; + m_length = sfinfo.frames; + m_seekable = sfinfo.seekable; + m_position = 0; + + switch(m_specs.format) + { + case AUD_FORMAT_S16: + m_read = (sf_read_f) sf_readf_short; + break; + case AUD_FORMAT_S32: + m_read = (sf_read_f) sf_readf_int; + break; + case AUD_FORMAT_FLOAT64: + m_read = (sf_read_f) sf_readf_double; + break; + default: + m_read = (sf_read_f) sf_readf_float; + } + + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") +} + +AUD_SndFileReader::AUD_SndFileReader(AUD_Reference<AUD_Buffer> buffer) +{ + m_membuffer = buffer; + m_memoffset = 0; + + m_vio.get_filelen = vio_get_filelen; + m_vio.read = vio_read; + m_vio.seek = vio_seek; + m_vio.tell = vio_tell; + m_vio.write = NULL; + + SF_INFO sfinfo; + + sfinfo.format = 0; + m_sndfile = sf_open_virtual(&m_vio, SFM_READ, &sfinfo, this); + + if(!m_sndfile) + AUD_THROW(AUD_ERROR_FILE); + + m_specs.channels = (AUD_Channels) sfinfo.channels; + m_specs.format = SNDFILE_TO_AUD(sfinfo.format); + m_specs.rate = (AUD_SampleRate) sfinfo.samplerate; + m_length = sfinfo.frames; + m_seekable = sfinfo.seekable; + m_position = 0; + + switch(m_specs.format) + { + case AUD_FORMAT_S16: + m_read = (sf_read_f) sf_readf_short; + break; + case AUD_FORMAT_S32: + m_read = (sf_read_f) sf_readf_int; + break; + case AUD_FORMAT_FLOAT64: + m_read = (sf_read_f) sf_readf_double; + break; + default: + m_read = (sf_read_f) sf_readf_float; + } + + m_buffer = new AUD_Buffer(); AUD_NEW("buffer") +} + +AUD_SndFileReader::~AUD_SndFileReader() +{ + sf_close(m_sndfile); + + delete m_buffer; AUD_DELETE("buffer") +} + +bool AUD_SndFileReader::isSeekable() +{ + return m_seekable; +} + +void AUD_SndFileReader::seek(int position) +{ + if(m_seekable) + { + position = sf_seek(m_sndfile, position, SEEK_SET); + m_position = position; + } +} + +int AUD_SndFileReader::getLength() +{ + return m_length; +} + +int AUD_SndFileReader::getPosition() +{ + return m_position; +} + +AUD_Specs AUD_SndFileReader::getSpecs() +{ + return m_specs; +} + +AUD_ReaderType AUD_SndFileReader::getType() +{ + return AUD_TYPE_STREAM; +} + +bool AUD_SndFileReader::notify(AUD_Message &message) +{ + return false; +} + +void AUD_SndFileReader::read(int & length, sample_t* & buffer) +{ + int sample_size = AUD_SAMPLE_SIZE(m_specs); + + // resize output buffer if necessary + if(m_buffer->getSize() < length*sample_size) + m_buffer->resize(length*sample_size); + + buffer = m_buffer->getBuffer(); + + length = m_read(m_sndfile, buffer, length); + + m_position += length; +} diff --git a/intern/audaspace/sndfile/AUD_SndFileReader.h b/intern/audaspace/sndfile/AUD_SndFileReader.h new file mode 100644 index 00000000000..da890ef53ca --- /dev/null +++ b/intern/audaspace/sndfile/AUD_SndFileReader.h @@ -0,0 +1,131 @@ +/* + * $Id$ + * + * ***** BEGIN LGPL LICENSE BLOCK ***** + * + * Copyright 2009 Jörg Hermann Müller + * + * This file is part of AudaSpace. + * + * AudaSpace is free software: you can redistribute it and/or modify + * it under the terms of the GNU Lesser General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * AudaSpace is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public License + * along with AudaSpace. If not, see <http://www.gnu.org/licenses/>. + * + * ***** END LGPL LICENSE BLOCK ***** + */ + +#ifndef AUD_SNDFILEREADER +#define AUD_SNDFILEREADER + +#include "AUD_IReader.h" +#include "AUD_Reference.h" +class AUD_Buffer; + +#include <sndfile.h> + +typedef sf_count_t (*sf_read_f)(SNDFILE *sndfile, void *ptr, sf_count_t frames); + +/** + * This class reads a sound file via libsndfile. + */ +class AUD_SndFileReader : public AUD_IReader +{ +private: + /** + * The current position in samples. + */ + int m_position; + + /** + * The sample count in the file. + */ + int m_length; + + /** + * Whether the file is seekable. + */ + bool m_seekable; + + /** + * The specification of the audio data. + */ + AUD_Specs m_specs; + + /** + * The playback buffer. + */ + AUD_Buffer* m_buffer; + + /** + * The sndfile. + */ + SNDFILE* m_sndfile; + + /** + * The reading function. + */ + sf_read_f m_read; + + /** + * The virtual IO structure for memory file reading. + */ + SF_VIRTUAL_IO m_vio; + + /** + * The pointer to the memory file. + */ + AUD_Reference<AUD_Buffer> m_membuffer; + + /** + * The current reading pointer of the memory file. + */ + int m_memoffset; + + // Functions for libsndfile virtual IO functionality + static sf_count_t vio_get_filelen(void *user_data); + static sf_count_t vio_seek(sf_count_t offset, int whence, void *user_data); + static sf_count_t vio_read(void *ptr, sf_count_t count, void *user_data); + static sf_count_t vio_tell(void *user_data); + +public: + /** + * Creates a new reader. + * \param filename The path to the file to be read. + * \exception AUD_Exception Thrown if the file specified does not exist or + * cannot be read with libsndfile. + */ + AUD_SndFileReader(const char* filename); + + /** + * Creates a new reader. + * \param buffer The buffer to read from. + * \exception AUD_Exception Thrown if the buffer specified cannot be read + * with libsndfile. + */ + AUD_SndFileReader(AUD_Reference<AUD_Buffer> buffer); + + /** + * Destroys the reader and closes the file. + */ + virtual ~AUD_SndFileReader(); + + virtual bool isSeekable(); + virtual void seek(int position); + virtual int getLength(); + virtual int getPosition(); + virtual AUD_Specs getSpecs(); + virtual AUD_ReaderType getType(); + virtual bool notify(AUD_Message &message); + virtual void read(int & length, sample_t* & buffer); +}; + +#endif //AUD_SNDFILEREADER diff --git a/intern/audaspace/sndfile/Makefile b/intern/audaspace/sndfile/Makefile new file mode 100644 index 00000000000..1cf0b2683fb --- /dev/null +++ b/intern/audaspace/sndfile/Makefile @@ -0,0 +1,40 @@ +# +# $Id$ +# +# ***** BEGIN GPL LICENSE BLOCK ***** +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 +# of the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software Foundation, +# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. +# All rights reserved. +# +# The Original Code is: all of this file. +# +# Contributor(s): +# +# ***** END GPL LICENSE BLOCK ***** +# +# + +LIBNAME = aud_sndfile +DIR = $(OCGDIR)/intern/audaspace + +include nan_compile.mk + +CCFLAGS += $(LEVEL_1_CPP_WARNINGS) + +CPPFLAGS += -I../intern +CPPFLAGS += -I.. +CPPFLAGS += -I. diff --git a/intern/boolop/make/msvc_9_0/boolop.vcproj b/intern/boolop/make/msvc_9_0/boolop.vcproj index 7fe83962695..357d189376a 100644 --- a/intern/boolop/make/msvc_9_0/boolop.vcproj +++ b/intern/boolop/make/msvc_9_0/boolop.vcproj @@ -119,6 +119,7 @@ />
<Tool
Name="VCCLCompilerTool"
+ Optimization="2"
InlineFunctionExpansion="2"
AdditionalIncludeDirectories="..\..\extern;..\..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\..\build\msvc_9\intern\memutil\include;..\..\..\..\..\build\msvc_9\intern\container\include;..\..\..\..\..\build\msvc_9\intern\guardedalloc\include;..\..\..\..\source\blender\blenlib;..\..\..\..\source\blender\makesdna;$(NOINHERIT)"
PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
diff --git a/intern/bsp/make/msvc_9_0/bsplib.vcproj b/intern/bsp/make/msvc_9_0/bsplib.vcproj index a1b16d5b93f..ed6978b8229 100644 --- a/intern/bsp/make/msvc_9_0/bsplib.vcproj +++ b/intern/bsp/make/msvc_9_0/bsplib.vcproj @@ -119,6 +119,7 @@ />
<Tool
Name="VCCLCompilerTool"
+ Optimization="2"
InlineFunctionExpansion="2"
AdditionalIncludeDirectories="..\..;..\..\..\..\..\build\msvc_9\intern\memutil\include;..\..\..\..\..\build\msvc_9\intern\moto\include;..\..\..\..\..\build\msvc_9\intern\container\include"
PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
diff --git a/intern/container/make/msvc_9_0/container.vcproj b/intern/container/make/msvc_9_0/container.vcproj index 2b40571672d..76bc56f413f 100644 --- a/intern/container/make/msvc_9_0/container.vcproj +++ b/intern/container/make/msvc_9_0/container.vcproj @@ -42,6 +42,7 @@ />
<Tool
Name="VCCLCompilerTool"
+ Optimization="2"
InlineFunctionExpansion="2"
PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
StringPooling="true"
diff --git a/intern/decimation/make/msvc_9_0/decimation.vcproj b/intern/decimation/make/msvc_9_0/decimation.vcproj index 7d58bf1f4c6..a75332857ad 100644 --- a/intern/decimation/make/msvc_9_0/decimation.vcproj +++ b/intern/decimation/make/msvc_9_0/decimation.vcproj @@ -119,6 +119,7 @@ />
<Tool
Name="VCCLCompilerTool"
+ Optimization="2"
InlineFunctionExpansion="2"
AdditionalIncludeDirectories="..\..\..\..\..\build\msvc_9\intern\memutil\include;..\..\..\..\..\build\msvc_9\intern\container\include;..\..\..\..\..\build\msvc_9\intern\moto\include"
PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
diff --git a/intern/elbeem/CMakeLists.txt b/intern/elbeem/CMakeLists.txt index 03fd4a3fefc..e541d334086 100644 --- a/intern/elbeem/CMakeLists.txt +++ b/intern/elbeem/CMakeLists.txt @@ -24,17 +24,17 @@ # # ***** END GPL LICENSE BLOCK ***** -SET(INC ${PNG_INC} ${ZLIB_INC} ${SDL_INC} extern) +SET(INC ${PNG_INC} ${ZLIB_INC} extern) FILE(GLOB SRC intern/*.cpp) ADD_DEFINITIONS(-DNOGUI -DELBEEM_BLENDER=1) IF(WINDOWS) - ADD_DEFINITIONS(-DUSE_MSVC6FIXES) + ADD_DEFINITIONS(-DUSE_MSVC6FIXES) ENDIF(WINDOWS) IF(WITH_OPENMP) - ADD_DEFINITIONS(-DPARALLEL=1) + ADD_DEFINITIONS(-DPARALLEL=1) ENDIF(WITH_OPENMP) BLENDERLIB_NOLIST(bf_elbeem "${SRC}" "${INC}") diff --git a/intern/elbeem/SConscript b/intern/elbeem/SConscript index 92e80c36cea..0900ab1db5c 100644 --- a/intern/elbeem/SConscript +++ b/intern/elbeem/SConscript @@ -10,7 +10,7 @@ defs = 'NOGUI ELBEEM_BLENDER=1' if env['WITH_BF_OPENMP']: defs += ' PARALLEL' -if env['OURPLATFORM']=='win32-vc': +if env['OURPLATFORM'] in ('win32-vc', 'win64-vc'): defs += ' USE_MSVC6FIXES' incs = env['BF_PNG_INC'] + ' ' + env['BF_ZLIB_INC'] incs += ' extern ' diff --git a/intern/elbeem/intern/paraloopend.h b/intern/elbeem/intern/paraloopend.h index 6bb224b625a..a396e395126 100644 --- a/intern/elbeem/intern/paraloopend.h +++ b/intern/elbeem/intern/paraloopend.h @@ -22,9 +22,9 @@ { if(doReduce) { // synchronize global vars - for(int j=0; j<calcListFull.size() ; j++) mListFull.push_back( calcListFull[j] ); - for(int j=0; j<calcListEmpty.size(); j++) mListEmpty.push_back( calcListEmpty[j] ); - for(int j=0; j<calcListParts.size(); j++) mpParticles->addFullParticle( calcListParts[j] ); + for(size_t j=0; j<calcListFull.size() ; j++) mListFull.push_back( calcListFull[j] ); + for(size_t j=0; j<calcListEmpty.size(); j++) mListEmpty.push_back( calcListEmpty[j] ); + for(size_t j=0; j<calcListParts.size(); j++) mpParticles->addFullParticle( calcListParts[j] ); if(calcMaxVlen>mMaxVlen) { mMxvx = calcMxvx; mMxvy = calcMxvy; diff --git a/intern/elbeem/intern/solver_init.cpp b/intern/elbeem/intern/solver_init.cpp index ce54adb48ee..fee011a70ae 100644 --- a/intern/elbeem/intern/solver_init.cpp +++ b/intern/elbeem/intern/solver_init.cpp @@ -1464,7 +1464,7 @@ void LbmFsgrSolver::initMovingObstacles(bool staticInit) { obj->applyTransformation(targetTime, &mMOIVertices,NULL /* no old normals needed */, 0, mMOIVertices.size(), false ); } else { // only do transform update - obj->getMovingPoints(mMOIVertices,pNormals); + obj->getMovingPoints(mMOIVertices,pNormals); // mMOIVertices = mCachedMovPoints mMOIVerticesOld = mMOIVertices; // WARNING - assumes mSimulationTime is global!? obj->applyTransformation(targetTime, &mMOIVertices,pNormals, 0, mMOIVertices.size(), false ); diff --git a/intern/elbeem/make/msvc_9_0/elbeem.vcproj b/intern/elbeem/make/msvc_9_0/elbeem.vcproj index 4108e09799d..2369a76fff0 100644 --- a/intern/elbeem/make/msvc_9_0/elbeem.vcproj +++ b/intern/elbeem/make/msvc_9_0/elbeem.vcproj @@ -114,6 +114,7 @@ />
<Tool
Name="VCCLCompilerTool"
+ Optimization="2"
AdditionalIncludeDirectories="..\..\intern;..\..\extern;..\..\..\..\..\lib\windows\png\include;..\..\..\..\..\lib\windows\zlib\include;..\..\..\..\source\kernel\gen_messaging;..\..\..\..\..\lib\windows\sdl\include"
PreprocessorDefinitions="WIN32;NDEBUG;_LIB;NOGUI;ELBEEM_BLENDER=1;LBM_INCLUDE_CONTROL=1"
StringPooling="true"
diff --git a/intern/ghost/CMakeLists.txt b/intern/ghost/CMakeLists.txt index b559d49958c..9128e923e19 100644 --- a/intern/ghost/CMakeLists.txt +++ b/intern/ghost/CMakeLists.txt @@ -24,33 +24,35 @@ # # ***** END GPL LICENSE BLOCK ***** -SET(INC . ../string ${WINTAB_INC}) +SET(INC . ../string) FILE(GLOB SRC intern/*.cpp) IF(APPLE) - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerWin32.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemWin32.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowWin32.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerX11.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemX11.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowX11.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerWin32.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemWin32.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowWin32.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerX11.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemX11.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowX11.cpp") ELSE(APPLE) - IF(WIN32) - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerCarbon.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemCarbon.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowCarbon.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerX11.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemX11.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowX11.cpp") - ELSE(WIN32) - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerWin32.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemWin32.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowWin32.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerCarbon.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemCarbon.cpp") - LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowCarbon.cpp") - ENDIF(WIN32) + IF(WIN32) + SET(INC ${INC} ${WINTAB_INC}) + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerCarbon.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemCarbon.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowCarbon.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerX11.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemX11.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowX11.cpp") + ELSE(WIN32) + SET(INC ${INC} ${X11_X11_INCLUDE_PATH}) + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerWin32.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemWin32.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowWin32.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_DisplayManagerCarbon.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_SystemCarbon.cpp") + LIST(REMOVE_ITEM SRC "${CMAKE_CURRENT_SOURCE_DIR}/intern/GHOST_WindowCarbon.cpp") + ENDIF(WIN32) ENDIF(APPLE) BLENDERLIB(bf_ghost "${SRC}" "${INC}") diff --git a/intern/ghost/GHOST_C-api.h b/intern/ghost/GHOST_C-api.h index c3158214830..c0b7077fb53 100644 --- a/intern/ghost/GHOST_C-api.h +++ b/intern/ghost/GHOST_C-api.h @@ -367,6 +367,17 @@ extern GHOST_TSuccess GHOST_SetCursorPosition(GHOST_SystemHandle systemhandle, GHOST_TInt32 x, GHOST_TInt32 y); +/** + * Grabs the cursor for a modal operation, to keep receiving + * events when the mouse is outside the window. X11 only, others + * do this automatically. + * @param windowhandle The handle to the window + * @param grab The new grab state of the cursor. + * @return Indication of success. + */ +extern GHOST_TSuccess GHOST_SetCursorGrab(GHOST_WindowHandle windowhandle, + int grab); + /*************************************************************************************** ** Access to mouse button and keyboard states. ***************************************************************************************/ diff --git a/intern/ghost/GHOST_IWindow.h b/intern/ghost/GHOST_IWindow.h index 0861d8b8946..d91995e35ec 100644 --- a/intern/ghost/GHOST_IWindow.h +++ b/intern/ghost/GHOST_IWindow.h @@ -252,6 +252,14 @@ public: * @return Indication of success. */ virtual GHOST_TSuccess setCursorVisibility(bool visible) = 0; + + /** + * Grabs the cursor for a modal operation. + * @param grab The new grab state of the cursor. + * @return Indication of success. + */ + virtual GHOST_TSuccess setCursorGrab(bool grab) { return GHOST_kSuccess; }; + }; #endif // _GHOST_IWINDOW_H_ diff --git a/intern/ghost/GHOST_Types.h b/intern/ghost/GHOST_Types.h index 2441251dc33..31819f341a0 100644 --- a/intern/ghost/GHOST_Types.h +++ b/intern/ghost/GHOST_Types.h @@ -64,8 +64,14 @@ typedef enum * the pen's angle in 3D space vertically downwards on to the XY plane * --Matt */ +typedef enum { + GHOST_kTabletModeNone = 0, + GHOST_kTabletModeStylus, + GHOST_kTabletModeEraser +} GHOST_TTabletMode; + typedef struct GHOST_TabletData { - char Active; /* 0=None, 1=Stylus, 2=Eraser */ + GHOST_TTabletMode Active; /* 0=None, 1=Stylus, 2=Eraser */ float Pressure; /* range 0.0 (not touching) to 1.0 (full pressure) */ float Xtilt; /* range 0.0 (upright) to 1.0 (tilted fully against the tablet surface) */ float Ytilt; /* as above */ @@ -126,6 +132,8 @@ typedef enum { GHOST_kButtonMaskLeft = 0, GHOST_kButtonMaskMiddle, GHOST_kButtonMaskRight, + GHOST_kButtonMaskButton4, + GHOST_kButtonMaskButton5, GHOST_kButtonNumMasks } GHOST_TButtonMask; diff --git a/intern/ghost/SConscript b/intern/ghost/SConscript index 9de82ac44fb..48009152699 100644 --- a/intern/ghost/SConscript +++ b/intern/ghost/SConscript @@ -29,4 +29,4 @@ else: incs = '. ../string ' + env['BF_OPENGL_INC'] if window_system in ('win32-vc', 'win32-mingw', 'cygwin', 'linuxcross', 'win64-vc'): incs = env['BF_WINTAB_INC'] + ' ' + incs -env.BlenderLib ('bf_ghost', sources, Split(incs), defines=['_USE_MATH_DEFINES'], libtype=['intern'], priority = [40] ) +env.BlenderLib ('bf_ghost', sources, Split(incs), defines=['_USE_MATH_DEFINES'], libtype=['intern','player'], priority = [40,15] ) diff --git a/intern/ghost/intern/GHOST_C-api.cpp b/intern/ghost/intern/GHOST_C-api.cpp index 401dba8d240..5c23b6c42a3 100644 --- a/intern/ghost/intern/GHOST_C-api.cpp +++ b/intern/ghost/intern/GHOST_C-api.cpp @@ -354,6 +354,14 @@ GHOST_TSuccess GHOST_SetCursorPosition(GHOST_SystemHandle systemhandle, } +GHOST_TSuccess GHOST_SetCursorGrab(GHOST_WindowHandle windowhandle, + int grab) +{ + GHOST_IWindow* window = (GHOST_IWindow*) windowhandle; + + return window->setCursorGrab(grab?true:false); +} + GHOST_TSuccess GHOST_GetModifierKeyState(GHOST_SystemHandle systemhandle, GHOST_TModifierKeyMask mask, diff --git a/intern/ghost/intern/GHOST_EventManager.cpp b/intern/ghost/intern/GHOST_EventManager.cpp index f9b13115f32..92cea8d8ff7 100644 --- a/intern/ghost/intern/GHOST_EventManager.cpp +++ b/intern/ghost/intern/GHOST_EventManager.cpp @@ -51,6 +51,15 @@ GHOST_EventManager::GHOST_EventManager() GHOST_EventManager::~GHOST_EventManager() { disposeEvents(); + + TConsumerVector::iterator iter= m_consumers.begin(); + while (iter != m_consumers.end()) + { + GHOST_IEventConsumer* consumer = *iter; + delete consumer; + m_consumers.erase(iter); + iter = m_consumers.begin(); + } } diff --git a/intern/ghost/intern/GHOST_System.cpp b/intern/ghost/intern/GHOST_System.cpp index 87e5f375958..84298d3e3ff 100644 --- a/intern/ghost/intern/GHOST_System.cpp +++ b/intern/ghost/intern/GHOST_System.cpp @@ -290,7 +290,8 @@ GHOST_TSuccess GHOST_System::init() #ifdef GHOST_DEBUG if (m_eventManager) { - m_eventManager->addConsumer(&m_eventPrinter); + m_eventPrinter = new GHOST_EventPrinter(); + m_eventManager->addConsumer(m_eventPrinter); } #endif // GHOST_DEBUG diff --git a/intern/ghost/intern/GHOST_System.h b/intern/ghost/intern/GHOST_System.h index 9310e9b2591..066fe4b93d3 100644 --- a/intern/ghost/intern/GHOST_System.h +++ b/intern/ghost/intern/GHOST_System.h @@ -335,7 +335,7 @@ protected: /** Prints all the events. */ #ifdef GHOST_DEBUG - GHOST_EventPrinter m_eventPrinter; + GHOST_EventPrinter* m_eventPrinter; #endif // GHOST_DEBUG /** Settings of the display before the display went fullscreen. */ diff --git a/intern/ghost/intern/GHOST_SystemCarbon.cpp b/intern/ghost/intern/GHOST_SystemCarbon.cpp index fb1b96fcbc7..57d6f6c06cc 100644 --- a/intern/ghost/intern/GHOST_SystemCarbon.cpp +++ b/intern/ghost/intern/GHOST_SystemCarbon.cpp @@ -788,21 +788,21 @@ OSStatus GHOST_SystemCarbon::handleTabletEvent(EventRef event) switch(tabletProximityRecord.pointerType) { case 1: /* stylus */ - ct.Active = 1; + ct.Active = GHOST_kTabletModeStylus; break; case 2: /* puck, not supported so far */ - ct.Active = 0; + ct.Active = GHOST_kTabletModeNone; break; case 3: /* eraser */ - ct.Active = 2; + ct.Active = GHOST_kTabletModeEraser; break; default: - ct.Active = 0; + ct.Active = GHOST_kTabletModeNone; break; } } else { // pointer is leaving - return to mouse - ct.Active = 0; + ct.Active = GHOST_kTabletModeNone; } } } diff --git a/intern/ghost/intern/GHOST_SystemWin32.cpp b/intern/ghost/intern/GHOST_SystemWin32.cpp index 8513d056795..2e89be40bcb 100644 --- a/intern/ghost/intern/GHOST_SystemWin32.cpp +++ b/intern/ghost/intern/GHOST_SystemWin32.cpp @@ -39,7 +39,6 @@ #endif #include "GHOST_SystemWin32.h" -//#include <stdio.h> //for printf() // win64 doesn't define GWL_USERDATA #ifdef WIN32 @@ -61,6 +60,23 @@ #define WHEEL_DELTA 120 /* Value for rolling one detent, (old convention! MS changed it) */ #endif // WHEEL_DELTA +/* + * Defines for mouse buttons 4 and 5 aka xbutton1 and xbutton2. + * MSDN: Declared in Winuser.h, include Windows.h + * This does not seem to work with MinGW so we define our own here. + */ +#ifndef XBUTTON1 +#define XBUTTON1 0x0001 +#endif // XBUTTON1 +#ifndef XBUTTON2 +#define XBUTTON2 0x0002 +#endif // XBUTTON2 +#ifndef WM_XBUTTONUP +#define WM_XBUTTONUP 524 +#endif // WM_XBUTTONUP +#ifndef WM_XBUTTONDOWN +#define WM_XBUTTONDOWN 523 +#endif // WM_XBUTTONDOWN #include "GHOST_Debug.h" #include "GHOST_DisplayManagerWin32.h" @@ -672,6 +688,14 @@ LRESULT WINAPI GHOST_SystemWin32::s_wndProc(HWND hwnd, UINT msg, WPARAM wParam, window->registerMouseClickEvent(true); event = processButtonEvent(GHOST_kEventButtonDown, window, GHOST_kButtonMaskRight); break; + case WM_XBUTTONDOWN: + window->registerMouseClickEvent(true); + if ((short) HIWORD(wParam) == XBUTTON1){ + event = processButtonEvent(GHOST_kEventButtonDown, window, GHOST_kButtonMaskButton4); + }else if((short) HIWORD(wParam) == XBUTTON2){ + event = processButtonEvent(GHOST_kEventButtonDown, window, GHOST_kButtonMaskButton5); + } + break; case WM_LBUTTONUP: window->registerMouseClickEvent(false); event = processButtonEvent(GHOST_kEventButtonUp, window, GHOST_kButtonMaskLeft); @@ -684,6 +708,14 @@ LRESULT WINAPI GHOST_SystemWin32::s_wndProc(HWND hwnd, UINT msg, WPARAM wParam, window->registerMouseClickEvent(false); event = processButtonEvent(GHOST_kEventButtonUp, window, GHOST_kButtonMaskRight); break; + case WM_XBUTTONUP: + window->registerMouseClickEvent(false); + if ((short) HIWORD(wParam) == XBUTTON1){ + event = processButtonEvent(GHOST_kEventButtonUp, window, GHOST_kButtonMaskButton4); + }else if((short) HIWORD(wParam) == XBUTTON2){ + event = processButtonEvent(GHOST_kEventButtonUp, window, GHOST_kButtonMaskButton5); + } + break; case WM_MOUSEMOVE: event = processCursorEvent(GHOST_kEventCursorMove, window); break; diff --git a/intern/ghost/intern/GHOST_SystemX11.cpp b/intern/ghost/intern/GHOST_SystemX11.cpp index a975322e9ce..cdbdce9c2ca 100644 --- a/intern/ghost/intern/GHOST_SystemX11.cpp +++ b/intern/ghost/intern/GHOST_SystemX11.cpp @@ -148,6 +148,13 @@ GHOST_SystemX11( } +GHOST_SystemX11:: +~GHOST_SystemX11() +{ + XCloseDisplay(m_display); +} + + GHOST_TSuccess GHOST_SystemX11:: init( @@ -155,11 +162,9 @@ init( GHOST_TSuccess success = GHOST_System::init(); if (success) { - m_keyboard_vector = new char[32]; - m_displayManager = new GHOST_DisplayManagerX11(this); - if (m_keyboard_vector && m_displayManager) { + if (m_displayManager) { return GHOST_kSuccess; } } @@ -439,10 +444,15 @@ GHOST_SystemX11::processEvent(XEvent *xe) XButtonEvent & xbe = xe->xbutton; GHOST_TButtonMask gbmask = GHOST_kButtonMaskLeft; - switch (xbe.button) { case Button1 : gbmask = GHOST_kButtonMaskLeft; break; case Button3 : gbmask = GHOST_kButtonMaskRight; break; + /* It seems events 6 and 7 are for horizontal scrolling. + * you can re-order button mapping like this... (swaps 6,7 with 8,9) + * xmodmap -e "pointer = 1 2 3 4 5 8 9 6 7" + */ + case 8 : gbmask = GHOST_kButtonMaskButton4; break; /* Button4 is the wheel */ + case 9 : gbmask = GHOST_kButtonMaskButton5; break; /* Button5 is a wheel too */ default: case Button2 : gbmask = GHOST_kButtonMaskMiddle; break; } @@ -534,11 +544,28 @@ GHOST_SystemX11::processEvent(XEvent *xe) window, data); } } else if (((Atom)xcme.data.l[0]) == m_wm_take_focus) { + XWindowAttributes attr; + Window fwin; + int revert_to; + /* as ICCCM say, we need reply this event * with a SetInputFocus, the data[1] have * the valid timestamp (send by the wm). + * + * Some WM send this event before the + * window is really mapped (for example + * change from virtual desktop), so we need + * to be sure that our windows is mapped + * or this call fail and close blender. */ - XSetInputFocus(m_display, xcme.window, RevertToParent, xcme.data.l[1]); + if (XGetWindowAttributes(m_display, xcme.window, &attr) == True) { + if (XGetInputFocus(m_display, &fwin, &revert_to) == True) { + if (attr.map_state == IsViewable) { + if (fwin != xcme.window) + XSetInputFocus(m_display, xcme.window, RevertToParent, xcme.data.l[1]); + } + } + } } else { /* Unknown client message, ignore */ } @@ -550,11 +577,26 @@ GHOST_SystemX11::processEvent(XEvent *xe) // We're not interested in the following things.(yet...) case NoExpose : case GraphicsExpose : + break; case EnterNotify: case LeaveNotify: + { // XCrossingEvents pointer leave enter window. + // also do cursor move here, MotionNotify only + // happens when motion starts & ends inside window + XCrossingEvent &xce = xe->xcrossing; + + g_event = new + GHOST_EventCursor( + getMilliSeconds(), + GHOST_kEventCursorMove, + window, + xce.x_root, + xce.y_root + ); break; + } case MapNotify: /* * From ICCCM: @@ -647,12 +689,12 @@ GHOST_SystemX11::processEvent(XEvent *xe) { XProximityNotifyEvent* data = (XProximityNotifyEvent*)xe; if(data->deviceid == window->GetXTablet().StylusID) - window->GetXTablet().CommonData.Active= 1; + window->GetXTablet().CommonData.Active= GHOST_kTabletModeStylus; else if(data->deviceid == window->GetXTablet().EraserID) - window->GetXTablet().CommonData.Active= 2; + window->GetXTablet().CommonData.Active= GHOST_kTabletModeEraser; } else if(xe->type == window->GetXTablet().ProxOutEvent) - window->GetXTablet().CommonData.Active= 0; + window->GetXTablet().CommonData.Active= GHOST_kTabletModeNone; break; } @@ -683,9 +725,9 @@ getModifierKeys( // analyse the masks retuned from XQueryPointer. - memset(m_keyboard_vector,0,sizeof(m_keyboard_vector)); + memset((void *)m_keyboard_vector,0,sizeof(m_keyboard_vector)); - XQueryKeymap(m_display,m_keyboard_vector); + XQueryKeymap(m_display,(char *)m_keyboard_vector); // now translate key symobols into keycodes and // test with vector. diff --git a/intern/ghost/intern/GHOST_SystemX11.h b/intern/ghost/intern/GHOST_SystemX11.h index 711a188ffe9..782f08f6737 100644 --- a/intern/ghost/intern/GHOST_SystemX11.h +++ b/intern/ghost/intern/GHOST_SystemX11.h @@ -59,6 +59,12 @@ public: GHOST_SystemX11( ); + /** + * Destructor. + */ + virtual ~GHOST_SystemX11(); + + GHOST_TSuccess init( ); @@ -258,7 +264,7 @@ private : GHOST_TUns64 m_start_time; /// A vector of keyboard key masks - char *m_keyboard_vector; + char m_keyboard_vector[32]; /** * Return the ghost window associated with the diff --git a/intern/ghost/intern/GHOST_Window.cpp b/intern/ghost/intern/GHOST_Window.cpp index a35680d1586..dee890830a1 100644 --- a/intern/ghost/intern/GHOST_Window.cpp +++ b/intern/ghost/intern/GHOST_Window.cpp @@ -50,6 +50,7 @@ GHOST_Window::GHOST_Window( : m_drawingContextType(type), m_cursorVisible(true), + m_cursorGrabbed(true), m_cursorShape(GHOST_kStandardCursorDefault), m_stereoVisual(stereoVisual) { @@ -93,6 +94,20 @@ GHOST_TSuccess GHOST_Window::setCursorVisibility(bool visible) } } +GHOST_TSuccess GHOST_Window::setCursorGrab(bool grab) +{ + if(m_cursorGrabbed == grab) + return GHOST_kSuccess; + + if (setWindowCursorGrab(grab)) { + m_cursorGrabbed = grab; + return GHOST_kSuccess; + } + else { + return GHOST_kFailure; + } +} + GHOST_TSuccess GHOST_Window::setCursorShape(GHOST_TStandardCursor cursorShape) { if (setWindowCursorShape(cursorShape)) { diff --git a/intern/ghost/intern/GHOST_Window.h b/intern/ghost/intern/GHOST_Window.h index 06318613b14..88178bae5b3 100644 --- a/intern/ghost/intern/GHOST_Window.h +++ b/intern/ghost/intern/GHOST_Window.h @@ -167,6 +167,13 @@ public: virtual GHOST_TSuccess setCursorVisibility(bool visible); /** + * Sets the cursor grab. + * @param grab The new grab state of the cursor. + * @return Indication of success. + */ + virtual GHOST_TSuccess setCursorGrab(bool grab); + + /** * Returns the type of drawing context used in this window. * @return The current type of drawing context. */ @@ -218,6 +225,12 @@ protected: * native window system calls. */ virtual GHOST_TSuccess setWindowCursorVisibility(bool visible) = 0; + + /** + * Sets the cursor grab on the window using + * native window system calls. + */ + virtual GHOST_TSuccess setWindowCursorGrab(bool grab) { return GHOST_kSuccess; }; /** * Sets the cursor shape on the window using @@ -242,6 +255,9 @@ protected: /** The current visibility of the cursor */ bool m_cursorVisible; + + /** The current grabbed state of the cursor */ + bool m_cursorGrabbed; /** The current shape of the cursor */ GHOST_TStandardCursor m_cursorShape; diff --git a/intern/ghost/intern/GHOST_WindowCarbon.cpp b/intern/ghost/intern/GHOST_WindowCarbon.cpp index 87bb86a37e7..362e949a0a4 100644 --- a/intern/ghost/intern/GHOST_WindowCarbon.cpp +++ b/intern/ghost/intern/GHOST_WindowCarbon.cpp @@ -183,7 +183,7 @@ GHOST_WindowCarbon::GHOST_WindowCarbon( updateDrawingContext(); activateDrawingContext(); - m_tablet.Active = 0; + m_tablet.Active = GHOST_kTabletModeNone; } } diff --git a/intern/ghost/intern/GHOST_WindowManager.cpp b/intern/ghost/intern/GHOST_WindowManager.cpp index 2b0809929c5..af96653db13 100644 --- a/intern/ghost/intern/GHOST_WindowManager.cpp +++ b/intern/ghost/intern/GHOST_WindowManager.cpp @@ -54,6 +54,7 @@ GHOST_WindowManager::GHOST_WindowManager() : GHOST_WindowManager::~GHOST_WindowManager() { + /* m_windows is freed by GHOST_System::disposeWindow */ } diff --git a/intern/ghost/intern/GHOST_WindowWin32.cpp b/intern/ghost/intern/GHOST_WindowWin32.cpp index 759951802af..e2caf31edee 100644 --- a/intern/ghost/intern/GHOST_WindowWin32.cpp +++ b/intern/ghost/intern/GHOST_WindowWin32.cpp @@ -117,18 +117,34 @@ GHOST_WindowWin32::GHOST_WindowWin32( m_maxPressure(0) { if (state != GHOST_kWindowStateFullScreen) { - // take taskbar into account RECT rect; + GHOST_TUns32 tw, th; + + width += GetSystemMetrics(SM_CXSIZEFRAME)*2; + height += GetSystemMetrics(SM_CYSIZEFRAME)*2 + GetSystemMetrics(SM_CYCAPTION); + + // take taskbar into account SystemParametersInfo(SPI_GETWORKAREA,0,&rect,0); - height = rect.bottom - rect.top; - width = rect.right - rect.left; + th = rect.bottom - rect.top; + tw = rect.right - rect.left; + + if(tw < width) + { + width = tw; + left = rect.left; + } + if(th < height) + { + height = th; + top = rect.top; + } m_hWnd = ::CreateWindow( s_windowClassName, // pointer to registered class name title, // pointer to window name WS_OVERLAPPEDWINDOW, // window style - rect.left, // horizontal position of window - rect.top, // vertical position of window + left, // horizontal position of window + top, // vertical position of window width, // window width height, // window height 0, // handle to parent or owner window @@ -228,7 +244,7 @@ GHOST_WindowWin32::GHOST_WindowWin32( m_tablet = fpWTOpen( m_hWnd, &lc, TRUE ); if (m_tablet) { m_tabletData = new GHOST_TabletData(); - m_tabletData->Active = 0; + m_tabletData->Active = GHOST_kTabletModeNone; } } } @@ -688,7 +704,7 @@ void GHOST_WindowWin32::processWin32TabletInitEvent() } } - m_tabletData->Active = 0; + m_tabletData->Active = GHOST_kTabletModeNone; } } } @@ -704,15 +720,15 @@ void GHOST_WindowWin32::processWin32TabletEvent(WPARAM wParam, LPARAM lParam) switch (pkt.pkCursor) { case 0: /* first device */ case 3: /* second device */ - m_tabletData->Active = 0; /* puck - not yet supported */ + m_tabletData->Active = GHOST_kTabletModeNone; /* puck - not yet supported */ break; case 1: case 4: - m_tabletData->Active = 1; /* stylus */ + m_tabletData->Active = GHOST_kTabletModeStylus; /* stylus */ break; case 2: case 5: - m_tabletData->Active = 2; /* eraser */ + m_tabletData->Active = GHOST_kTabletModeEraser; /* eraser */ break; } if (m_maxPressure > 0) { diff --git a/intern/ghost/intern/GHOST_WindowX11.cpp b/intern/ghost/intern/GHOST_WindowX11.cpp index 2cc30aaa5bc..060e9ca6f6c 100644 --- a/intern/ghost/intern/GHOST_WindowX11.cpp +++ b/intern/ghost/intern/GHOST_WindowX11.cpp @@ -42,6 +42,9 @@ #include <cstring> #include <cstdio> +#include <algorithm> +#include <string> + // For obscure full screen mode stuuf // lifted verbatim from blut. @@ -187,6 +190,8 @@ GHOST_WindowX11( printf("%s:%d: X11 glxChooseVisual() failed for OpenGL, verify working openGL system!\n", __FILE__, __LINE__); return; } + + memset(&m_xtablet, 0, sizeof(m_xtablet)); // Create a bunch of attributes needed to create an X window. @@ -289,7 +294,7 @@ GHOST_WindowX11( } // Create some hints for the window manager on how - // we want this window treated. + // we want this window treated. XSizeHints * xsizehints = XAllocSizeHints(); xsizehints->flags = USPosition | USSize; @@ -409,6 +414,100 @@ static int ApplicationErrorHandler(Display *display, XErrorEvent *theEvent) { return 0 ; } +/* These C functions are copied from Wine 1.1.13's wintab.c */ +#define BOOL int +#define TRUE 1 +#define FALSE 0 + +static bool match_token(const char *haystack, const char *needle) +{ + const char *p, *q; + for (p = haystack; *p; ) + { + while (*p && isspace(*p)) + p++; + if (! *p) + break; + + for (q = needle; *q && *p && tolower(*p) == tolower(*q); q++) + p++; + if (! *q && (isspace(*p) || !*p)) + return TRUE; + + while (*p && ! isspace(*p)) + p++; + } + return FALSE; +} + +/* Determining if an X device is a Tablet style device is an imperfect science. +** We rely on common conventions around device names as well as the type reported +** by Wacom tablets. This code will likely need to be expanded for alternate tablet types +** +** Wintab refers to any device that interacts with the tablet as a cursor, +** (stylus, eraser, tablet mouse, airbrush, etc) +** this is not to be confused with wacom x11 configuration "cursor" device. +** Wacoms x11 config "cursor" refers to its device slot (which we mirror with +** our gSysCursors) for puck like devices (tablet mice essentially). +*/ +#if 0 // unused +static BOOL is_tablet_cursor(const char *name, const char *type) +{ + int i; + static const char *tablet_cursor_whitelist[] = { + "wacom", + "wizardpen", + "acecad", + "tablet", + "cursor", + "stylus", + "eraser", + "pad", + NULL + }; + + for (i=0; tablet_cursor_whitelist[i] != NULL; i++) { + if (name && match_token(name, tablet_cursor_whitelist[i])) + return TRUE; + if (type && match_token(type, tablet_cursor_whitelist[i])) + return TRUE; + } + return FALSE; +} +#endif +static BOOL is_stylus(const char *name, const char *type) +{ + int i; + static const char* tablet_stylus_whitelist[] = { + "stylus", + "wizardpen", + "acecad", + NULL + }; + + for (i=0; tablet_stylus_whitelist[i] != NULL; i++) { + if (name && match_token(name, tablet_stylus_whitelist[i])) + return TRUE; + if (type && match_token(type, tablet_stylus_whitelist[i])) + return TRUE; + } + + return FALSE; +} + +static BOOL is_eraser(const char *name, const char *type) +{ + if (name && match_token(name, "eraser")) + return TRUE; + if (type && match_token(type, "eraser")) + return TRUE; + return FALSE; +} +#undef BOOL +#undef TRUE +#undef FALSE +/* end code copied from wine */ + void GHOST_WindowX11::initXInputDevices() { static XErrorHandler old_handler = (XErrorHandler) 0 ; @@ -418,15 +517,21 @@ void GHOST_WindowX11::initXInputDevices() if(version->present) { int device_count; XDeviceInfo* device_info = XListInputDevices(m_display, &device_count); - m_xtablet.StylusDevice = 0; - m_xtablet.EraserDevice = 0; - m_xtablet.CommonData.Active= 0; + m_xtablet.StylusDevice = NULL; + m_xtablet.EraserDevice = NULL; + m_xtablet.CommonData.Active= GHOST_kTabletModeNone; /* Install our error handler to override Xlib's termination behavior */ old_handler = XSetErrorHandler(ApplicationErrorHandler) ; for(int i=0; i<device_count; ++i) { - if(!strcasecmp(device_info[i].name, "stylus")) { + char *device_type = device_info[i].type ? XGetAtomName(m_display, device_info[i].type) : NULL; + +// printf("Tablet type:'%s', name:'%s', index:%d\n", device_type, device_info[i].name, i); + + + if(m_xtablet.StylusDevice==NULL && is_stylus(device_info[i].name, device_type)) { +// printf("\tfound stylus\n"); m_xtablet.StylusID= device_info[i].id; m_xtablet.StylusDevice = XOpenDevice(m_display, m_xtablet.StylusID); @@ -435,6 +540,7 @@ void GHOST_WindowX11::initXInputDevices() XAnyClassPtr ici = device_info[i].inputclassinfo; for(int j=0; j<m_xtablet.StylusDevice->num_classes; ++j) { if(ici->c_class==ValuatorClass) { +// printf("\t\tfound ValuatorClass\n"); XValuatorInfo* xvi = (XValuatorInfo*)ici; m_xtablet.PressureLevels = xvi->axes[2].max_value; @@ -451,11 +557,16 @@ void GHOST_WindowX11::initXInputDevices() m_xtablet.StylusID= 0; } } - if(!strcasecmp(device_info[i].name, "eraser")) { + else if(m_xtablet.EraserDevice==NULL && is_eraser(device_info[i].name, device_type)) { +// printf("\tfound eraser\n"); m_xtablet.EraserID= device_info[i].id; m_xtablet.EraserDevice = XOpenDevice(m_display, m_xtablet.EraserID); if (m_xtablet.EraserDevice == NULL) m_xtablet.EraserID= 0; } + + if(device_type) { + XFree((void*)device_type); + } } /* Restore handler */ @@ -496,7 +607,7 @@ GHOST_WindowX11:: getXWindow( ){ return m_window; -} +} bool GHOST_WindowX11:: @@ -510,7 +621,17 @@ GHOST_WindowX11:: setTitle( const STR_String& title ){ + Atom name = XInternAtom(m_display, "_NET_WM_NAME", 0); + Atom utf8str = XInternAtom(m_display, "UTF8_STRING", 0); + XChangeProperty(m_display, m_window, + name, utf8str, 8, PropModeReplace, + (const unsigned char*) title.ReadPtr(), + strlen(title.ReadPtr())); + +// This should convert to valid x11 string +// and getTitle would need matching change XStoreName(m_display,m_window,title); + XFlush(m_display); } @@ -1097,6 +1218,13 @@ GHOST_WindowX11:: XFreeCursor(m_display, m_custom_cursor); } + /* close tablet devices */ + if(m_xtablet.StylusDevice) + XCloseDevice(m_display, m_xtablet.StylusDevice); + + if(m_xtablet.EraserDevice) + XCloseDevice(m_display, m_xtablet.EraserDevice); + if (m_context) { if (m_context == s_firstContext) { s_firstContext = NULL; @@ -1271,6 +1399,21 @@ setWindowCursorVisibility( GHOST_TSuccess GHOST_WindowX11:: +setWindowCursorGrab( + bool grab +){ + if(grab) + XGrabPointer(m_display, m_window, True, ButtonPressMask| ButtonReleaseMask|PointerMotionMask, GrabModeAsync, GrabModeAsync, None, None, CurrentTime); + else + XUngrabPointer(m_display, CurrentTime); + + XFlush(m_display); + + return GHOST_kSuccess; +} + + GHOST_TSuccess +GHOST_WindowX11:: setWindowCursorShape( GHOST_TStandardCursor shape ){ @@ -1308,13 +1451,12 @@ setWindowCustomCursorShape( int fg_color, int bg_color ){ + Colormap colormap= DefaultColormap(m_display, DefaultScreen(m_display)); Pixmap bitmap_pix, mask_pix; XColor fg, bg; - if(XAllocNamedColor(m_display, DefaultColormap(m_display, DefaultScreen(m_display)), - "White", &fg, &fg) == 0) return GHOST_kFailure; - if(XAllocNamedColor(m_display, DefaultColormap(m_display, DefaultScreen(m_display)), - "Black", &bg, &bg) == 0) return GHOST_kFailure; + if(XAllocNamedColor(m_display, colormap, "White", &fg, &fg) == 0) return GHOST_kFailure; + if(XAllocNamedColor(m_display, colormap, "Black", &bg, &bg) == 0) return GHOST_kFailure; if (m_custom_cursor) { XFreeCursor(m_display, m_custom_cursor); @@ -1330,6 +1472,9 @@ setWindowCustomCursorShape( XFreePixmap(m_display, bitmap_pix); XFreePixmap(m_display, mask_pix); + XFreeColors(m_display, colormap, &fg.pixel, 1, 0L); + XFreeColors(m_display, colormap, &bg.pixel, 1, 0L); + return GHOST_kSuccess; } diff --git a/intern/ghost/intern/GHOST_WindowX11.h b/intern/ghost/intern/GHOST_WindowX11.h index 1392e2c19a6..6f8940bdcbb 100644 --- a/intern/ghost/intern/GHOST_WindowX11.h +++ b/intern/ghost/intern/GHOST_WindowX11.h @@ -250,6 +250,15 @@ protected: ); /** + * Sets the cursor grab on the window using + * native window system calls. + */ + GHOST_TSuccess + setWindowCursorGrab( + bool grab + ); + + /** * Sets the cursor shape on the window using * native window system calls. */ diff --git a/intern/ghost/make/msvc_9_0/ghost.vcproj b/intern/ghost/make/msvc_9_0/ghost.vcproj index fa128786a90..6b3a49cfc9c 100644 --- a/intern/ghost/make/msvc_9_0/ghost.vcproj +++ b/intern/ghost/make/msvc_9_0/ghost.vcproj @@ -42,6 +42,7 @@ />
<Tool
Name="VCCLCompilerTool"
+ Optimization="2"
InlineFunctionExpansion="1"
AdditionalIncludeDirectories="..\..;..\..\..\..\..\build\msvc_9\intern\string\include;..\..\..\..\..\lib\windows\wintab\INCLUDE"
PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
diff --git a/intern/guardedalloc/BLO_sys_types.h b/intern/guardedalloc/BLO_sys_types.h index 5ed3117c890..e3c64f9746a 100644 --- a/intern/guardedalloc/BLO_sys_types.h +++ b/intern/guardedalloc/BLO_sys_types.h @@ -82,7 +82,7 @@ typedef unsigned long uintptr_t; #define _UINTPTR_T_DEFINED #endif -#elif defined(__linux__) +#elif defined(__linux__) || defined(__NetBSD__) /* Linux-i386, Linux-Alpha, Linux-ppc */ #include <stdint.h> diff --git a/intern/guardedalloc/CMakeLists.txt b/intern/guardedalloc/CMakeLists.txt index af64fb99d58..40ca35632d7 100644 --- a/intern/guardedalloc/CMakeLists.txt +++ b/intern/guardedalloc/CMakeLists.txt @@ -29,4 +29,9 @@ SET(INC .) FILE(GLOB SRC intern/*.c) BLENDERLIB(bf_guardedalloc "${SRC}" "${INC}") -#, libtype=['intern', 'player'], priority = [10, 175] ) + +# Override C++ alloc optional +IF(WITH_CXX_GUARDEDALLOC) + FILE(GLOB SRC cpp/*.cpp) + BLENDERLIB(bf_guardedalloc_cpp "${SRC}" "${INC}") +ENDIF(WITH_CXX_GUARDEDALLOC) diff --git a/intern/guardedalloc/MEM_guardedalloc.h b/intern/guardedalloc/MEM_guardedalloc.h index 1d4c753802b..9e3927314d3 100644 --- a/intern/guardedalloc/MEM_guardedalloc.h +++ b/intern/guardedalloc/MEM_guardedalloc.h @@ -27,8 +27,6 @@ */ /** - - * $Id$ * Copyright (C) 2001 NaN Technologies B.V. * Guarded memory (de)allocation * diff --git a/intern/guardedalloc/SConscript b/intern/guardedalloc/SConscript index 0184ddd9785..2ee0f84b464 100644 --- a/intern/guardedalloc/SConscript +++ b/intern/guardedalloc/SConscript @@ -5,4 +5,4 @@ Import('env') sources = env.Glob('intern/*.c') incs = '.' -env.BlenderLib ('bf_guardedalloc', sources, Split(incs), defines=[], libtype=['intern', 'player'], priority = [5, 175] ) +env.BlenderLib ('bf_guardedalloc', sources, Split(incs), defines=[], libtype=['intern','player'], priority = [5,150] ) diff --git a/intern/SoundSystem/SND_DependKludge.h b/intern/guardedalloc/cpp/mallocn.cpp index 06d4ec9c0c9..0ee22e734b9 100644 --- a/intern/SoundSystem/SND_DependKludge.h +++ b/intern/guardedalloc/cpp/mallocn.cpp @@ -1,10 +1,5 @@ -/* - * SND_DependKludge.h - * - * who needs what? - * +/** * $Id$ - * * ***** BEGIN GPL LICENSE BLOCK ***** * * This program is free software; you can redistribute it and/or @@ -21,30 +16,26 @@ * along with this program; if not, write to the Free Software Foundation, * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * - * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. - * All rights reserved. - * - * The Original Code is: all of this file. - * - * Contributor(s): none yet. + * Contributor(s): Campbell Barton * * ***** END GPL LICENSE BLOCK ***** */ -#ifndef HAVE_CONFIG_H - -#ifndef NO_SOUND +#include <new> +#include "../MEM_guardedalloc.h" -#if defined (_WIN32) && !defined(FREE_WINDOWS) -# define USE_OPENAL -#elif defined (__linux__) || (__FreeBSD__) || defined(__APPLE__) || defined(__sun) -# define USE_OPENAL -#else -# ifdef USE_OPENAL -# undef USE_OPENAL -# endif -#endif +void* operator new (size_t size) +{ + return MEM_mallocN(size, "c++/anonymous"); +} -#endif /* NO_SOUND */ +/* not default but can be used when needing to set a string */ +void* operator new (size_t size, const char *str) +{ + return MEM_mallocN(size, str); +} -#endif /* HAVE_CONFIG_H */ +void operator delete (void *p) +{ + MEM_freeN(p); +} diff --git a/intern/guardedalloc/make/msvc_9_0/guardedalloc.vcproj b/intern/guardedalloc/make/msvc_9_0/guardedalloc.vcproj index d59b80f7b62..16deb7b71fa 100644 --- a/intern/guardedalloc/make/msvc_9_0/guardedalloc.vcproj +++ b/intern/guardedalloc/make/msvc_9_0/guardedalloc.vcproj @@ -42,6 +42,7 @@ />
<Tool
Name="VCCLCompilerTool"
+ Optimization="2"
InlineFunctionExpansion="1"
AdditionalIncludeDirectories="..\.."
PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
diff --git a/intern/iksolver/SConscript b/intern/iksolver/SConscript index df8c10b7302..7adb2d50893 100644 --- a/intern/iksolver/SConscript +++ b/intern/iksolver/SConscript @@ -5,5 +5,5 @@ sources = env.Glob('intern/*.cpp') incs = 'intern ../moto/include ../memutil' -env.BlenderLib ('bf_IK', sources, Split(incs), [], libtype=['intern'], priority=[100] ) +env.BlenderLib ('bf_IK', sources, Split(incs), [], libtype=['intern','player'], priority=[100,90] ) diff --git a/intern/iksolver/intern/TNT/tntmath.h b/intern/iksolver/intern/TNT/tntmath.h index 5773900caf9..55a79e2aba0 100644 --- a/intern/iksolver/intern/TNT/tntmath.h +++ b/intern/iksolver/intern/TNT/tntmath.h @@ -35,7 +35,9 @@ // conventional functions required by several matrix algorithms - +#ifdef _WIN32 +#define hypot _hypot +#endif namespace TNT { diff --git a/intern/iksolver/make/msvc_9_0/iksolver.vcproj b/intern/iksolver/make/msvc_9_0/iksolver.vcproj index 0e87556380b..296a23e57cc 100644 --- a/intern/iksolver/make/msvc_9_0/iksolver.vcproj +++ b/intern/iksolver/make/msvc_9_0/iksolver.vcproj @@ -42,6 +42,7 @@ />
<Tool
Name="VCCLCompilerTool"
+ Optimization="2"
InlineFunctionExpansion="2"
AdditionalIncludeDirectories="..\..\..\..\..\build\msvc_9\intern\memutil\include;..\..\..\..\..\build\msvc_9\intern\moto\include"
PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
diff --git a/intern/itasc/Armature.cpp b/intern/itasc/Armature.cpp new file mode 100644 index 00000000000..cd059505b4a --- /dev/null +++ b/intern/itasc/Armature.cpp @@ -0,0 +1,769 @@ +/* $Id: Armature.cpp 21152 2009-06-25 11:57:19Z ben2610 $ + * Armature.cpp + * + * Created on: Feb 3, 2009 + * Author: benoitbolsee + */ + +#include "Armature.hpp" +#include <algorithm> +#include <malloc.h> +#include <string.h> + +namespace iTaSC { + +// a joint constraint is characterized by 5 values: tolerance, K, alpha, yd, yddot +static const unsigned int constraintCacheSize = 5; +std::string Armature::m_root = "root"; + +Armature::Armature(): + ControlledObject(), + m_tree(), + m_njoint(0), + m_nconstraint(0), + m_noutput(0), + m_neffector(0), + m_finalized(false), + m_cache(NULL), + m_buf(NULL), + m_qCCh(-1), + m_qCTs(0), + m_yCCh(-1), + m_yCTs(0), + m_qKdl(), + m_oldqKdl(), + m_newqKdl(), + m_qdotKdl(), + m_jac(NULL), + m_jacsolver(NULL), + m_fksolver(NULL), + m_armlength(0.0) +{ +} + +Armature::~Armature() +{ + if (m_jac) + delete m_jac; + if (m_jacsolver) + delete m_jacsolver; + if (m_fksolver) + delete m_fksolver; + for (JointConstraintList::iterator it=m_constraints.begin(); it != m_constraints.end(); it++) { + if (*it != NULL) + delete (*it); + } + if (m_buf) + delete [] m_buf; + m_constraints.clear(); +} + +Armature::JointConstraint_struct::JointConstraint_struct(SegmentMap::const_iterator _segment, unsigned int _y_nr, ConstraintCallback _function, void* _param, bool _freeParam, bool _substep): + segment(_segment), value(), values(), function(_function), y_nr(_y_nr), param(_param), freeParam(_freeParam), substep(_substep) +{ + memset(values, 0, sizeof(values)); + memset(value, 0, sizeof(value)); + values[0].feedback = 20.0; + values[1].feedback = 20.0; + values[2].feedback = 20.0; + values[0].tolerance = 1.0; + values[1].tolerance = 1.0; + values[2].tolerance = 1.0; + values[0].values = &value[0]; + values[1].values = &value[1]; + values[2].values = &value[2]; + values[0].number = 1; + values[1].number = 1; + values[2].number = 1; + switch (segment->second.segment.getJoint().getType()) { + case Joint::RotX: + value[0].id = ID_JOINT_RX; + values[0].id = ID_JOINT_RX; + v_nr = 1; + break; + case Joint::RotY: + value[0].id = ID_JOINT_RY; + values[0].id = ID_JOINT_RY; + v_nr = 1; + break; + case Joint::RotZ: + value[0].id = ID_JOINT_RZ; + values[0].id = ID_JOINT_RZ; + v_nr = 1; + break; + case Joint::TransX: + value[0].id = ID_JOINT_TX; + values[0].id = ID_JOINT_TX; + v_nr = 1; + break; + case Joint::TransY: + value[0].id = ID_JOINT_TY; + values[0].id = ID_JOINT_TY; + v_nr = 1; + break; + case Joint::TransZ: + value[0].id = ID_JOINT_TZ; + values[0].id = ID_JOINT_TZ; + v_nr = 1; + break; + case Joint::Sphere: + values[0].id = value[0].id = ID_JOINT_RX; + values[1].id = value[1].id = ID_JOINT_RY; + values[2].id = value[2].id = ID_JOINT_RZ; + v_nr = 3; + break; + case Joint::Swing: + values[0].id = value[0].id = ID_JOINT_RX; + values[1].id = value[1].id = ID_JOINT_RZ; + v_nr = 2; + break; + } +} + +Armature::JointConstraint_struct::~JointConstraint_struct() +{ + if (freeParam && param) + free(param); +} + +void Armature::initCache(Cache *_cache) +{ + m_cache = _cache; + m_qCCh = -1; + m_yCCh = -1; + m_buf = NULL; + if (m_cache) { + // add a special channel for the joint + m_qCCh = m_cache->addChannel(this, "q", m_qKdl.rows()*sizeof(double)); +#if 0 + // for the constraints, instead of creating many different channels, we will + // create a single channel for all the constraints + if (m_nconstraint) { + m_yCCh = m_cache->addChannel(this, "y", m_nconstraint*constraintCacheSize*sizeof(double)); + m_buf = new double[m_nconstraint*constraintCacheSize]; + } + // store the initial cache position at timestamp 0 + pushConstraints(0); +#endif + pushQ(0); + } +} + +void Armature::pushQ(CacheTS timestamp) +{ + if (m_qCCh >= 0) { + // try to keep the cache if the joints are the same + m_cache->addCacheVectorIfDifferent(this, m_qCCh, timestamp, &m_qKdl(0), m_qKdl.rows(), KDL::epsilon); + m_qCTs = timestamp; + } +} + +/* return true if a m_cache position was loaded */ +bool Armature::popQ(CacheTS timestamp) +{ + if (m_qCCh >= 0) { + double* item; + item = (double*)m_cache->getPreviousCacheItem(this, m_qCCh, ×tamp); + if (item && m_qCTs != timestamp) { + double& q = m_qKdl(0); + memcpy(&q, item, m_qKdl.rows()*sizeof(q)); + m_qCTs = timestamp; + // changing the joint => recompute the jacobian + updateJacobian(); + } + return (item) ? true : false; + } + return true; +} +#if 0 +void Armature::pushConstraints(CacheTS timestamp) +{ + if (m_yCCh >= 0) { + double *buf = NULL; + if (m_nconstraint) { + double *item = m_buf; + for (unsigned int i=0; i<m_nconstraint; i++) { + JointConstraint_struct* pConstraint = m_constraints[i]; + *item++ = pConstraint->values.feedback; + *item++ = pConstraint->values.tolerance; + *item++ = pConstraint->value.yd; + *item++ = pConstraint->value.yddot; + *item++ = pConstraint->values.alpha; + } + } + m_cache->addCacheVectorIfDifferent(this, m_yCCh, timestamp, m_buf, m_nconstraint*constraintCacheSize, KDL::epsilon); + m_yCTs = timestamp; + } +} + +/* return true if a cache position was loaded */ +bool Armature::popConstraints(CacheTS timestamp) +{ + if (m_yCCh >= 0) { + double *item = (double*)m_cache->getPreviousCacheItem(this, m_yCCh, ×tamp); + if (item && m_yCTs != timestamp) { + for (unsigned int i=0; i<m_nconstraint; i++) { + JointConstraint_struct* pConstraint = m_constraints[i]; + if (pConstraint->function != Joint1DOFLimitCallback) { + pConstraint->values.feedback = *item++; + pConstraint->values.tolerance = *item++; + pConstraint->value.yd = *item++; + pConstraint->value.yddot = *item++; + pConstraint->values.alpha = *item++; + } else { + item += constraintCacheSize; + } + } + m_yCTs = timestamp; + } + return (item) ? true : false; + } + return true; +} +#endif + +bool Armature::addSegment(const std::string& segment_name, const std::string& hook_name, const Joint& joint, const double& q_rest, const Frame& f_tip, const Inertia& M) +{ + if (m_finalized) + return false; + + Segment segment(joint, f_tip, M); + if (!m_tree.addSegment(segment, segment_name, hook_name)) + return false; + int ndof = joint.getNDof(); + for (int dof=0; dof<ndof; dof++) { + Joint_struct js(joint.getType(), ndof, (&q_rest)[dof]); + m_joints.push_back(js); + } + m_njoint+=ndof; + return true; +} + +bool Armature::getSegment(const std::string& name, const unsigned int q_size, const Joint* &p_joint, double &q_rest, double &q, const Frame* &p_tip) +{ + SegmentMap::const_iterator sit = m_tree.getSegment(name); + if (sit == m_tree.getSegments().end()) + return false; + p_joint = &sit->second.segment.getJoint(); + if (q_size < p_joint->getNDof()) + return false; + p_tip = &sit->second.segment.getFrameToTip(); + for (unsigned int dof=0; dof<p_joint->getNDof(); dof++) { + (&q_rest)[dof] = m_joints[sit->second.q_nr+dof].rest; + (&q)[dof] = m_qKdl(sit->second.q_nr+dof); + } + return true; +} + +double Armature::getMaxJointChange() +{ + if (!m_finalized) + return 0.0; + double maxJoint = 0.0; + for (unsigned int i=0; i<m_njoint; i++) { + // this is a very rough calculation, it doesn't work well for spherical joint + double joint = fabs(m_oldqKdl(i)-m_qKdl(i)); + if (maxJoint < joint) + maxJoint = joint; + } + return maxJoint; +} + +double Armature::getMaxEndEffectorChange() +{ + if (!m_finalized) + return 0.0; + double maxDelta = 0.0; + double delta; + Twist twist; + for (unsigned int i = 0; i<m_neffector; i++) { + twist = diff(m_effectors[i].pose, m_effectors[i].oldpose); + delta = twist.rot.Norm(); + if (delta > maxDelta) + maxDelta = delta; + delta = twist.vel.Norm(); + if (delta > maxDelta) + maxDelta = delta; + } + return maxDelta; +} + +int Armature::addConstraint(const std::string& segment_name, ConstraintCallback _function, void* _param, bool _freeParam, bool _substep) +{ + SegmentMap::const_iterator segment_it = m_tree.getSegment(segment_name); + // not suitable for NDof joints + if (segment_it == m_tree.getSegments().end()) { + if (_freeParam && _param) + free(_param); + return -1; + } + JointConstraintList::iterator constraint_it; + JointConstraint_struct* pConstraint; + int iConstraint; + for (iConstraint=0, constraint_it=m_constraints.begin(); constraint_it != m_constraints.end(); constraint_it++, iConstraint++) { + pConstraint = *constraint_it; + if (pConstraint->segment == segment_it) { + // redefining a constraint + if (pConstraint->freeParam && pConstraint->param) { + free(pConstraint->param); + } + pConstraint->function = _function; + pConstraint->param = _param; + pConstraint->freeParam = _freeParam; + pConstraint->substep = _substep; + return iConstraint; + } + } + if (m_finalized) { + if (_freeParam && _param) + free(_param); + return -1; + } + // new constraint, append + pConstraint = new JointConstraint_struct(segment_it, m_noutput, _function, _param, _freeParam, _substep); + m_constraints.push_back(pConstraint); + m_noutput += pConstraint->v_nr; + return m_nconstraint++; +} + +int Armature::addLimitConstraint(const std::string& segment_name, unsigned int dof, double _min, double _max) +{ + SegmentMap::const_iterator segment_it = m_tree.getSegment(segment_name); + if (segment_it == m_tree.getSegments().end()) + return -1; + const Joint& joint = segment_it->second.segment.getJoint(); + if (joint.getNDof() != 1 && joint.getType() != Joint::Swing) { + // not suitable for Sphere joints + return -1; + } + if ((joint.getNDof() == 1 && dof > 0) || (joint.getNDof() == 2 && dof > 1)) + return -1; + if (joint.getType() < Joint::TransX || joint.getType() == Joint::Swing) { + // for rotation joint, the limit is given in degree, convert to radian + _min *= KDL::deg2rad; + _max *= KDL::deg2rad; + } + Joint_struct& p_joint = m_joints[segment_it->second.q_nr+dof]; + p_joint.min = _min; + p_joint.max = _max; + p_joint.useLimit = true; + return 0; +} + +int Armature::addEndEffector(const std::string& name) +{ + const SegmentMap& segments = m_tree.getSegments(); + if (segments.find(name) == segments.end()) + return -1; + + EffectorList::const_iterator it; + int ee; + for (it=m_effectors.begin(), ee=0; it!=m_effectors.end(); it++, ee++) { + if (it->name == name) + return ee; + } + if (m_finalized) + return -1; + Effector_struct effector(name); + m_effectors.push_back(effector); + return m_neffector++; +} + +void Armature::finalize() +{ + unsigned int i, j, c; + if (m_finalized) + return; + initialize(m_njoint, m_noutput, m_neffector); + for (i=c=0; i<m_nconstraint; i++) { + JointConstraint_struct* pConstraint = m_constraints[i]; + for (j=0; j<pConstraint->v_nr; j++, c++) { + m_Cq(c,pConstraint->segment->second.q_nr+j) = 1.0; + m_Wy(c) = pConstraint->values[j].alpha/*/(pConstraint->values.tolerance*pConstraint->values.feedback)*/; + } + } + m_jacsolver= new KDL::TreeJntToJacSolver(m_tree); + m_fksolver = new KDL::TreeFkSolverPos_recursive(m_tree); + m_jac = new Jacobian(m_njoint); + m_qKdl.resize(m_njoint); + m_oldqKdl.resize(m_njoint); + m_newqKdl.resize(m_njoint); + m_qdotKdl.resize(m_njoint); + for (i=0; i<m_njoint; i++) { + m_newqKdl(i) = m_oldqKdl(i) = m_qKdl(i) = m_joints[i].rest; + } + updateJacobian(); + // estimate the maximum size of the robot arms + double length; + m_armlength = 0.0; + for (i=0; i<m_neffector; i++) { + length = 0.0; + KDL::SegmentMap::const_iterator sit = m_tree.getSegment(m_effectors[i].name); + while (sit->first != "root") { + Frame tip = sit->second.segment.pose(m_qKdl(sit->second.q_nr)); + length += tip.p.Norm(); + sit = sit->second.parent; + } + if (length > m_armlength) + m_armlength = length; + } + if (m_armlength < KDL::epsilon) + m_armlength = KDL::epsilon; + m_finalized = true; +} + +void Armature::pushCache(const Timestamp& timestamp) +{ + if (!timestamp.substep && timestamp.cache) { + pushQ(timestamp.cacheTimestamp); + //pushConstraints(timestamp.cacheTimestamp); + } +} + +bool Armature::setJointArray(const KDL::JntArray& joints) +{ + if (!m_finalized) + return false; + if (joints.rows() != m_qKdl.rows()) + return false; + m_qKdl = joints; + updateJacobian(); + return true; +} + +const KDL::JntArray& Armature::getJointArray() +{ + return m_qKdl; +} + +bool Armature::updateJoint(const Timestamp& timestamp, JointLockCallback& callback) +{ + if (!m_finalized) + return false; + + // integration and joint limit + // for spherical joint we must use a more sophisticated method + unsigned int q_nr; + double* qdot=&m_qdotKdl(0); + double* q=&m_qKdl(0); + double* newq=&m_newqKdl(0); + double norm, qx, qz, CX, CZ, sx, sz; + bool locked = false; + int unlocked = 0; + + for (q_nr=0; q_nr<m_nq; ++q_nr) + m_qdotKdl(q_nr)=m_qdot(q_nr); + + for (q_nr=0; q_nr<m_nq; ) { + Joint_struct* joint = &m_joints[q_nr]; + if (!joint->locked) { + switch (joint->type) { + case KDL::Joint::Swing: + { + KDL::Rotation base = KDL::Rot(KDL::Vector(q[0],0.0,q[1])); + (base*KDL::Rot(KDL::Vector(qdot[0],0.0,qdot[1])*timestamp.realTimestep)).GetXZRot().GetValue(newq); + if (joint[0].useLimit) { + if (joint[1].useLimit) { + // elliptical limit + sx = sz = 1.0; + qx = newq[0]; + qz = newq[1]; + // determine in which quadrant we are + if (qx > 0.0 && qz > 0.0) { + CX = joint[0].max; + CZ = joint[1].max; + } else if (qx <= 0.0 && qz > 0.0) { + CX = -joint[0].min; + CZ = joint[1].max; + qx = -qx; + sx = -1.0; + } else if (qx <= 0.0 && qz <= 0.0) { + CX = -joint[0].min; + CZ = -joint[1].min; + qx = -qx; + qz = -qz; + sx = sz = -1.0; + } else { + CX = joint[0].max; + CZ = -joint[0].min; + qz = -qz; + sz = -1.0; + } + if (CX < KDL::epsilon || CZ < KDL::epsilon) { + // quadrant is degenerated + if (qx > CX) { + newq[0] = CX*sx; + joint[0].locked = true; + } + if (qz > CZ) { + newq[1] = CZ*sz; + joint[0].locked = true; + } + } else { + // general case + qx /= CX; + qz /= CZ; + norm = KDL::sqrt(KDL::sqr(qx)+KDL::sqr(qz)); + if (norm > 1.0) { + norm = 1.0/norm; + newq[0] = qx*norm*CX*sx; + newq[1] = qz*norm*CZ*sz; + joint[0].locked = true; + } + } + } else { + // limit on X only + qx = newq[0]; + if (qx > joint[0].max) { + newq[0] = joint[0].max; + joint[0].locked = true; + } else if (qx < joint[0].min) { + newq[0] = joint[0].min; + joint[0].locked = true; + } + } + } else if (joint[1].useLimit) { + // limit on Z only + qz = newq[1]; + if (qz > joint[1].max) { + newq[1] = joint[1].max; + joint[0].locked = true; + } else if (qz < joint[1].min) { + newq[1] = joint[1].min; + joint[0].locked = true; + } + } + if (joint[0].locked) { + // check the difference from previous position + locked = true; + norm = KDL::sqr(newq[0]-q[0])+KDL::sqr(newq[1]-q[1]); + if (norm < KDL::epsilon2) { + // joint didn't move, no need to update the jacobian + callback.lockJoint(q_nr, 2); + } else { + // joint moved, compute the corresponding velocity + double deltaq[2]; + (base.Inverse()*KDL::Rot(KDL::Vector(newq[0],0.0,newq[1]))).GetXZRot().GetValue(deltaq); + deltaq[0] /= timestamp.realTimestep; + deltaq[1] /= timestamp.realTimestep; + callback.lockJoint(q_nr, 2, deltaq); + // no need to update the other joints, it will be done after next rerun + goto end_loop; + } + } else + unlocked++; + break; + } + case KDL::Joint::Sphere: + { + (KDL::Rot(KDL::Vector(q))*KDL::Rot(KDL::Vector(qdot)*timestamp.realTimestep)).GetRot().GetValue(newq); + // no limit on this joint + unlocked++; + break; + } + default: + for (unsigned int i=0; i<joint->ndof; i++) { + newq[i] = q[i]+qdot[i]*timestamp.realTimestep; + if (joint[i].useLimit) { + if (newq[i] > joint[i].max) { + newq[i] = joint[i].max; + joint[0].locked = true; + } else if (newq[i] < joint[i].min) { + newq[i] = joint[i].min; + joint[0].locked = true; + } + } + } + if (joint[0].locked) { + locked = true; + norm = 0.0; + // compute delta to locked position + for (unsigned int i=0; i<joint->ndof; i++) { + qdot[i] = newq[i] - q[i]; + norm += qdot[i]*qdot[i]; + } + if (norm < KDL::epsilon2) { + // joint didn't move, no need to update the jacobian + callback.lockJoint(q_nr, joint->ndof); + } else { + // solver needs velocity, compute equivalent velocity + for (unsigned int i=0; i<joint->ndof; i++) { + qdot[i] /= timestamp.realTimestep; + } + callback.lockJoint(q_nr, joint->ndof, qdot); + goto end_loop; + } + } else + unlocked++; + } + } + qdot += joint->ndof; + q += joint->ndof; + newq += joint->ndof; + q_nr += joint->ndof; + } +end_loop: + // check if there any other unlocked joint + for ( ; q_nr<m_nq; ) { + Joint_struct* joint = &m_joints[q_nr]; + if (!joint->locked) + unlocked++; + q_nr += joint->ndof; + } + // if all joints have been locked no need to run the solver again + return (unlocked) ? locked : false; +} + +void Armature::updateKinematics(const Timestamp& timestamp){ + + //Integrate m_qdot + if (!m_finalized) + return; + + // the new joint value have been computed already, just copy + memcpy(&m_qKdl(0), &m_newqKdl(0), sizeof(double)*m_qKdl.rows()); + pushCache(timestamp); + updateJacobian(); + // here update the desired output. + // We assume constant desired output for the joint limit constraint, no need to update it. +} + +void Armature::updateJacobian() +{ + //calculate pose and jacobian + for (unsigned int ee=0; ee<m_nee; ee++) { + m_fksolver->JntToCart(m_qKdl,m_effectors[ee].pose,m_effectors[ee].name,m_root); + m_jacsolver->JntToJac(m_qKdl,*m_jac,m_effectors[ee].name); + // get the jacobian for the base point, to prepare transformation to world reference + changeRefPoint(*m_jac,-m_effectors[ee].pose.p,*m_jac); + //copy to Jq: + e_matrix& Jq = m_JqArray[ee]; + for(unsigned int i=0;i<6;i++) { + for(unsigned int j=0;j<m_nq;j++) + Jq(i,j)=(*m_jac)(i,j); + } + } + // remember that this object has moved + m_updated = true; +} + +const Frame& Armature::getPose(const unsigned int ee) +{ + if (!m_finalized) + return F_identity; + return (ee >= m_nee) ? F_identity : m_effectors[ee].pose; +} + +bool Armature::getRelativeFrame(Frame& result, const std::string& segment_name, const std::string& base_name) +{ + if (!m_finalized) + return false; + return (m_fksolver->JntToCart(m_qKdl,result,segment_name,base_name) < 0) ? false : true; +} + +void Armature::updateControlOutput(const Timestamp& timestamp) +{ + if (!m_finalized) + return; + + + if (!timestamp.substep && !timestamp.reiterate && timestamp.interpolate) { + popQ(timestamp.cacheTimestamp); + //popConstraints(timestamp.cacheTimestamp); + } + + if (!timestamp.substep) { + // save previous joint state for getMaxJointChange() + memcpy(&m_oldqKdl(0), &m_qKdl(0), sizeof(double)*m_qKdl.rows()); + for (unsigned int i=0; i<m_neffector; i++) { + m_effectors[i].oldpose = m_effectors[i].pose; + } + } + + // remove all joint lock + for (JointList::iterator jit=m_joints.begin(); jit!=m_joints.end(); ++jit) { + (*jit).locked = false; + } + + JointConstraintList::iterator it; + unsigned int iConstraint; + + // scan through the constraints and call the callback functions + for (iConstraint=0, it=m_constraints.begin(); it!=m_constraints.end(); it++, iConstraint++) { + JointConstraint_struct* pConstraint = *it; + unsigned int nr, i; + for (i=0, nr = pConstraint->segment->second.q_nr; i<pConstraint->v_nr; i++, nr++) { + *(double*)&pConstraint->value[i].y = m_qKdl(nr); + *(double*)&pConstraint->value[i].ydot = m_qdotKdl(nr); + } + if (pConstraint->function && (pConstraint->substep || (!timestamp.reiterate && !timestamp.substep))) { + (*pConstraint->function)(timestamp, pConstraint->values, pConstraint->v_nr, pConstraint->param); + } + // recompute the weight in any case, that's the most likely modification + for (i=0, nr=pConstraint->y_nr; i<pConstraint->v_nr; i++, nr++) { + m_Wy(nr) = pConstraint->values[i].alpha/*/(pConstraint->values.tolerance*pConstraint->values.feedback)*/; + m_ydot(nr)=pConstraint->value[i].yddot+pConstraint->values[i].feedback*(pConstraint->value[i].yd-pConstraint->value[i].y); + } + } +} + +bool Armature::setControlParameter(unsigned int constraintId, unsigned int valueId, ConstraintAction action, double value, double timestep) +{ + unsigned int lastid, i; + if (constraintId == CONSTRAINT_ID_ALL) { + constraintId = 0; + lastid = m_nconstraint; + } else if (constraintId < m_nconstraint) { + lastid = constraintId+1; + } else { + return false; + } + for ( ; constraintId<lastid; ++constraintId) { + JointConstraint_struct* pConstraint = m_constraints[constraintId]; + if (valueId == ID_JOINT) { + for (i=0; i<pConstraint->v_nr; i++) { + switch (action) { + case ACT_TOLERANCE: + pConstraint->values[i].tolerance = value; + break; + case ACT_FEEDBACK: + pConstraint->values[i].feedback = value; + break; + case ACT_ALPHA: + pConstraint->values[i].alpha = value; + break; + } + } + } else { + for (i=0; i<pConstraint->v_nr; i++) { + if (valueId == pConstraint->value[i].id) { + switch (action) { + case ACT_VALUE: + pConstraint->value[i].yd = value; + break; + case ACT_VELOCITY: + pConstraint->value[i].yddot = value; + break; + case ACT_TOLERANCE: + pConstraint->values[i].tolerance = value; + break; + case ACT_FEEDBACK: + pConstraint->values[i].feedback = value; + break; + case ACT_ALPHA: + pConstraint->values[i].alpha = value; + break; + } + } + } + } + if (m_finalized) { + for (i=0; i<pConstraint->v_nr; i++) + m_Wy(pConstraint->y_nr+i) = pConstraint->values[i].alpha/*/(pConstraint->values.tolerance*pConstraint->values.feedback)*/; + } + } + return true; +} + +} + diff --git a/intern/itasc/Armature.hpp b/intern/itasc/Armature.hpp new file mode 100644 index 00000000000..312ca1b28c3 --- /dev/null +++ b/intern/itasc/Armature.hpp @@ -0,0 +1,137 @@ +/* $Id: Armature.hpp 20853 2009-06-13 12:29:46Z ben2610 $ + * Armature.hpp + * + * Created on: Feb 3, 2009 + * Author: benoitbolsee + */ + +#ifndef ARMATURE_HPP_ +#define ARMATURE_HPP_ + +#include "ControlledObject.hpp" +#include "ConstraintSet.hpp" +#include "kdl/treejnttojacsolver.hpp" +#include "kdl/treefksolverpos_recursive.hpp" +#include <vector> + +namespace iTaSC { + +class Armature: public iTaSC::ControlledObject { +public: + Armature(); + virtual ~Armature(); + + bool addSegment(const std::string& segment_name, const std::string& hook_name, const Joint& joint, const double& q_rest, const Frame& f_tip=F_identity, const Inertia& M = Inertia::Zero()); + // general purpose constraint on joint + int addConstraint(const std::string& segment_name, ConstraintCallback _function, void* _param=NULL, bool _freeParam=false, bool _substep=false); + // specific limit constraint on joint + int addLimitConstraint(const std::string& segment_name, unsigned int dof, double _min, double _max); + double getMaxJointChange(); + double getMaxEndEffectorChange(); + bool getSegment(const std::string& segment_name, const unsigned int q_size, const Joint* &p_joint, double &q_rest, double &q, const Frame* &p_tip); + bool getRelativeFrame(Frame& result, const std::string& segment_name, const std::string& base_name=m_root); + + virtual void finalize(); + + virtual int addEndEffector(const std::string& name); + virtual const Frame& getPose(const unsigned int end_effector); + virtual bool updateJoint(const Timestamp& timestamp, JointLockCallback& callback); + virtual void updateKinematics(const Timestamp& timestamp); + virtual void pushCache(const Timestamp& timestamp); + virtual void updateControlOutput(const Timestamp& timestamp); + virtual bool setControlParameter(unsigned int constraintId, unsigned int valueId, ConstraintAction action, double value, double timestep=0.0); + virtual void initCache(Cache *_cache); + virtual bool setJointArray(const KDL::JntArray& joints); + virtual const KDL::JntArray& getJointArray(); + + virtual double getArmLength() + { + return m_armlength; + } + + struct Effector_struct { + std::string name; + Frame oldpose; + Frame pose; + Effector_struct(const std::string& _name) {name = _name; oldpose = pose = F_identity;} + }; + typedef std::vector<Effector_struct> EffectorList; + + enum ID { + ID_JOINT=1, + ID_JOINT_RX=2, + ID_JOINT_RY=3, + ID_JOINT_RZ=4, + ID_JOINT_TX=2, + ID_JOINT_TY=3, + ID_JOINT_TZ=4, + }; + struct JointConstraint_struct { + SegmentMap::const_iterator segment; + ConstraintSingleValue value[3]; + ConstraintValues values[3]; + ConstraintCallback function; + unsigned int v_nr; + unsigned int y_nr; // first coordinate of constraint in Y vector + void* param; + bool freeParam; + bool substep; + JointConstraint_struct(SegmentMap::const_iterator _segment, unsigned int _y_nr, ConstraintCallback _function, void* _param, bool _freeParam, bool _substep); + ~JointConstraint_struct(); + }; + typedef std::vector<JointConstraint_struct*> JointConstraintList; + + struct Joint_struct { + KDL::Joint::JointType type; + unsigned short ndof; + bool useLimit; + bool locked; + double rest; + double min; + double max; + + Joint_struct(KDL::Joint::JointType _type, unsigned int _ndof, double _rest) : + type(_type), ndof(_ndof), rest(_rest) { useLimit=locked=false; min=0.0; max=0.0; } + }; + typedef std::vector<Joint_struct> JointList; + +protected: + virtual void updateJacobian(); + +private: + static std::string m_root; + Tree m_tree; + unsigned int m_njoint; + unsigned int m_nconstraint; + unsigned int m_noutput; + unsigned int m_neffector; + bool m_finalized; + Cache* m_cache; + double *m_buf; + int m_qCCh; + CacheTS m_qCTs; + int m_yCCh; + CacheTS m_yCTs; + JntArray m_qKdl; + JntArray m_oldqKdl; + JntArray m_newqKdl; + JntArray m_qdotKdl; + Jacobian* m_jac; + double m_armlength; + + KDL::TreeJntToJacSolver* m_jacsolver; + KDL::TreeFkSolverPos_recursive* m_fksolver; + EffectorList m_effectors; + JointConstraintList m_constraints; + JointList m_joints; + + void pushQ(CacheTS timestamp); + bool popQ(CacheTS timestamp); + //void pushConstraints(CacheTS timestamp); + //bool popConstraints(CacheTS timestamp); + +}; + +} + +#endif /* ARMATURE_HPP_ */ diff --git a/intern/itasc/CMakeLists.txt b/intern/itasc/CMakeLists.txt new file mode 100644 index 00000000000..405d74d17ac --- /dev/null +++ b/intern/itasc/CMakeLists.txt @@ -0,0 +1,32 @@ +# $Id: CMakeLists.txt 19905 2009-04-23 13:29:54Z ben2610 $ +# ***** BEGIN GPL LICENSE BLOCK ***** +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 +# of the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software Foundation, +# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# The Original Code is Copyright (C) 2006, Blender Foundation +# All rights reserved. +# +# The Original Code is: all of this file. +# +# Contributor(s): Jacques Beaurain. +# +# ***** END GPL LICENSE BLOCK ***** + +SET(INC ../../extern/Eigen2) + +FILE(GLOB SRC *.cpp kdl/*.cpp kdl/utilities/*.cpp) + +BLENDERLIB(bf_ITASC "${SRC}" "${INC}") +#, libtype=['blender'], priority = [10] ) diff --git a/intern/itasc/Cache.cpp b/intern/itasc/Cache.cpp new file mode 100644 index 00000000000..68c281910e3 --- /dev/null +++ b/intern/itasc/Cache.cpp @@ -0,0 +1,621 @@ +/* $Id: Cache.cpp 21152 2009-06-25 11:57:19Z ben2610 $ + * Cache.cpp + * + * Created on: Feb 24, 2009 + * Author: benoit bolsee + */ +#include <string.h> +#include <assert.h> +#include <malloc.h> +#include "Cache.hpp" + +#include <math.h> + +namespace iTaSC { + +CacheEntry::~CacheEntry() +{ + for (unsigned int id=0; id < m_count; id++) + m_channelArray[id].clear(); + if (m_channelArray) + free(m_channelArray); +} + +CacheItem *CacheChannel::_findBlock(CacheBuffer *buffer, unsigned short timeOffset, unsigned int *retBlock) +{ + // the timestamp is necessarily in this buffer + unsigned int lowBlock, highBlock, midBlock; + if (timeOffset <= buffer->lookup[0].m_timeOffset) { + // special case: the item is in the first block, search from start + *retBlock = 0; + return &buffer->m_firstItem; + } + // general case, the item is in the middle of the buffer + // before doing a dycotomic search, we will assume that timestamp + // are regularly spaced so that we can try to locate the block directly + highBlock = buffer->m_lastItemPositionW>>m_positionToBlockShiftW; + lowBlock = midBlock = (timeOffset*highBlock)/(buffer->m_lastTimestamp-buffer->m_firstTimestamp); + // give some space for security + if (lowBlock > 0) + lowBlock--; + if (timeOffset <= buffer->lookup[lowBlock].m_timeOffset) { + // bad guess, but we know this block is a good high block, just use it + highBlock = lowBlock; + lowBlock = 0; + } else { + // ok, good guess, now check the high block, give some space + if (midBlock < highBlock) + midBlock++; + if (timeOffset <= buffer->lookup[midBlock].m_timeOffset) { + // good guess, keep that block as the high block + highBlock = midBlock; + } + } + // the item is in a different block, do a dycotomic search + // the timestamp is alway > lowBlock and <= highBlock + while (1) { + midBlock = (lowBlock+highBlock)/2; + if (midBlock == lowBlock) { + // low block and high block are contigous, we can start search from the low block + break; + } else if (timeOffset <= buffer->lookup[midBlock].m_timeOffset) { + highBlock = midBlock; + } else { + lowBlock = midBlock; + } + } + assert (lowBlock != highBlock); + *retBlock = highBlock; + return CACHE_BLOCK_ITEM_ADDR(this,buffer,lowBlock); +} + +void CacheChannel::clear() +{ + CacheBuffer *buffer, *next; + for (buffer=m_firstBuffer; buffer != 0; buffer = next) { + next = buffer->m_next; + free(buffer); + } + m_firstBuffer = NULL; + m_lastBuffer = NULL; + if (initItem) { + free(initItem); + initItem = NULL; + } +} + +CacheBuffer* CacheChannel::allocBuffer() +{ + CacheBuffer* buffer; + if (!m_busy) + return NULL; + buffer = (CacheBuffer*)malloc(CACHE_BUFFER_HEADER_SIZE+(m_bufferSizeW<<2)); + if (buffer) { + memset(buffer, 0, CACHE_BUFFER_HEADER_SIZE); + } + return buffer; +} + +CacheItem* CacheChannel::findItemOrLater(unsigned int timestamp, CacheBuffer **rBuffer) +{ + CacheBuffer* buffer; + CacheItem *item, *limit; + if (!m_busy) + return NULL; + if (timestamp == 0 && initItem) { + *rBuffer = NULL; + return initItem; + } + for (buffer=m_firstBuffer; buffer; buffer = buffer->m_next) { + if (buffer->m_firstFreePositionW == 0) + // buffer is empty, this must be the last and we didn't find the timestamp + return NULL; + if (timestamp < buffer->m_firstTimestamp) { + *rBuffer = buffer; + return &buffer->m_firstItem; + } + if (timestamp <= buffer->m_lastTimestamp) { + // the timestamp is necessarily in this buffer + unsigned short timeOffset = (unsigned short)(timestamp-buffer->m_firstTimestamp); + unsigned int highBlock; + item = _findBlock(buffer, timeOffset, &highBlock); + // now we do a linear search until we find a timestamp that is equal or higher + // we should normally always find an item but let's put a limit just in case + limit = CACHE_BLOCK_ITEM_ADDR(this,buffer,highBlock); + while (item<=limit && item->m_timeOffset < timeOffset ) + item = CACHE_NEXT_ITEM(item); + assert(item<=limit); + *rBuffer = buffer; + return item; + } + // search in next buffer + } + return NULL; +} + +CacheItem* CacheChannel::findItemEarlier(unsigned int timestamp, CacheBuffer **rBuffer) +{ + CacheBuffer *buffer, *prevBuffer; + CacheItem *item, *limit, *prevItem; + if (!m_busy) + return NULL; + if (timestamp == 0) + return NULL; + for (prevBuffer=NULL, buffer=m_firstBuffer; buffer; prevBuffer = buffer, buffer = buffer->m_next) { + if (buffer->m_firstFreePositionW == 0) + // buffer is empty, this must be the last and we didn't find the timestamp + return NULL; + if (timestamp <= buffer->m_firstTimestamp) { + if (prevBuffer == NULL) { + // no item before, except the initial item + *rBuffer = NULL; + return initItem; + } + // the item is necessarily the last one of previous buffer + *rBuffer = prevBuffer; + return CACHE_ITEM_ADDR(prevBuffer,prevBuffer->m_lastItemPositionW); + } + if (timestamp <= buffer->m_lastTimestamp) { + // the timestamp is necessarily in this buffer + unsigned short timeOffset = (unsigned short)(timestamp-buffer->m_firstTimestamp); + unsigned int highBlock; + item = _findBlock(buffer, timeOffset, &highBlock); + // now we do a linear search until we find a timestamp that is equal or higher + // we should normally always find an item but let's put a limit just in case + limit = CACHE_BLOCK_ITEM_ADDR(this,buffer,highBlock); + prevItem = NULL; + while (item<=limit && item->m_timeOffset < timeOffset) { + prevItem = item; + item = CACHE_NEXT_ITEM(item); + } + assert(item<=limit && prevItem!=NULL); + *rBuffer = buffer; + return prevItem; + } + // search in next buffer + } + // pass all buffer, the last item is the last item of the last buffer + if (prevBuffer == NULL) { + // no item before, except the initial item + *rBuffer = NULL; + return initItem; + } + // the item is necessarily the last one of previous buffer + *rBuffer = prevBuffer; + return CACHE_ITEM_ADDR(prevBuffer,prevBuffer->m_lastItemPositionW); +} + + +Cache::Cache() +{ +} + +Cache::~Cache() +{ + CacheMap::iterator it; + for (it=m_cache.begin(); it!=m_cache.end(); it=m_cache.begin()) { + deleteDevice(it->first); + } +} + +int Cache::addChannel(const void *device, const char *name, unsigned int maxItemSize) +{ + CacheMap::iterator it = m_cache.find(device); + CacheEntry *entry; + CacheChannel *channel; + unsigned int id; + + if (maxItemSize > 0x3FFF0) + return -1; + + if (it == m_cache.end()) { + // device does not exist yet, create a new entry + entry = new CacheEntry(); + if (entry == NULL) + return -1; + if (!m_cache.insert(CacheMap::value_type(device,entry)).second) + return -1; + } else { + entry = it->second; + } + // locate a channel with the same name and reuse + for (channel=entry->m_channelArray, id=0; id<entry->m_count; id++, channel++) { + if (channel->m_busy && !strcmp(name, channel->m_name)) { + // make this channel free again + deleteChannel(device, id); + // there can only be one channel with the same name + break; + } + } + for (channel=entry->m_channelArray, id=0; id<entry->m_count; id++, channel++) { + // locate a free channel + if (!channel->m_busy) + break; + } + if (id == entry->m_count) { + // no channel free, create new channels + int newcount = entry->m_count + CACHE_CHANNEL_EXTEND_SIZE; + channel = (CacheChannel*)realloc(entry->m_channelArray, newcount*sizeof(CacheChannel)); + if (channel == NULL) + return -1; + entry->m_channelArray = channel; + memset(&entry->m_channelArray[entry->m_count], 0, CACHE_CHANNEL_EXTEND_SIZE*sizeof(CacheChannel)); + entry->m_count = newcount; + channel = &entry->m_channelArray[id]; + } + // compute the optimal buffer size + // The buffer size must be selected so that + // - it does not contain more than 1630 items (=1s of cache assuming 25 items per second) + // - it contains at least one item + // - it's not bigger than 256kb and preferably around 32kb + // - it a multiple of 4 + unsigned int bufSize = 1630*(maxItemSize+4); + if (bufSize >= CACHE_DEFAULT_BUFFER_SIZE) + bufSize = CACHE_DEFAULT_BUFFER_SIZE; + if (bufSize < maxItemSize+16) + bufSize = maxItemSize+16; + bufSize = (bufSize + 3) & ~0x3; + // compute block size and offset bit mask + // the block size is computed so that + // - it is a power of 2 + // - there is at least one item per block + // - there is no more than CACHE_LOOKUP_TABLE_SIZE blocks per buffer + unsigned int blockSize = bufSize/CACHE_LOOKUP_TABLE_SIZE; + if (blockSize < maxItemSize+12) + blockSize = maxItemSize+12; + // find the power of 2 that is immediately larger than blockSize + unsigned int m; + unsigned int pwr2Size = blockSize; + while ((m = (pwr2Size & (pwr2Size-1))) != 0) + pwr2Size = m; + blockSize = (pwr2Size < blockSize) ? pwr2Size<<1 : pwr2Size; + // convert byte size to word size because all positions and size are expressed in 32 bit words + blockSize >>= 2; + channel->m_blockSizeW = blockSize; + channel->m_bufferSizeW = bufSize>>2; + channel->m_firstBuffer = NULL; + channel->m_lastBuffer = NULL; + channel->m_busy = 1; + channel->initItem = NULL; + channel->m_maxItemSizeB = maxItemSize; + strncpy(channel->m_name, name, sizeof(channel->m_name)); + channel->m_name[sizeof(channel->m_name)-1] = 0; + channel->m_positionToOffsetMaskW = (blockSize-1); + for (m=0; blockSize!=1; m++, blockSize>>=1); + channel->m_positionToBlockShiftW = m; + return (int)id; +} + +int Cache::deleteChannel(const void *device, int id) +{ + CacheMap::iterator it = m_cache.find(device); + CacheEntry *entry; + + if (it == m_cache.end()) { + // device does not exist + return -1; + } + entry = it->second; + if (id < 0 || id >= (int)entry->m_count || !entry->m_channelArray[id].m_busy) + return -1; + entry->m_channelArray[id].clear(); + entry->m_channelArray[id].m_busy = 0; + return 0; +} + +int Cache::deleteDevice(const void *device) +{ + CacheMap::iterator it = m_cache.find(device); + CacheEntry *entry; + + if (it == m_cache.end()) { + // device does not exist + return -1; + } + entry = it->second; + delete entry; + m_cache.erase(it); + return 0; +} + +void Cache::clearCacheFrom(const void *device, CacheTS timestamp) +{ + CacheMap::iterator it = (device) ? m_cache.find(device) : m_cache.begin(); + CacheEntry *entry; + CacheChannel *channel; + CacheBuffer *buffer, *nextBuffer, *prevBuffer; + CacheItem *item, *prevItem, *nextItem; + unsigned int positionW, block; + + while (it != m_cache.end()) { + entry = it->second; + for (unsigned int ch=0; ch<entry->m_count; ch++) { + channel = &entry->m_channelArray[ch]; + if (channel->m_busy) { + item = channel->findItemOrLater(timestamp, &buffer); + if (item ) { + if (!buffer) { + // this is possible if we return the special timestamp=0 item, delete all buffers + channel->clear(); + } else { + // this item and all later items will be removed, clear any later buffer + while ((nextBuffer = buffer->m_next) != NULL) { + buffer->m_next = nextBuffer->m_next; + free(nextBuffer); + } + positionW = CACHE_ITEM_POSITIONW(buffer,item); + if (positionW == 0) { + // this item is the first one of the buffer, remove the buffer completely + // first find the buffer just before it + nextBuffer = channel->m_firstBuffer; + prevBuffer = NULL; + while (nextBuffer != buffer) { + prevBuffer = nextBuffer; + nextBuffer = nextBuffer->m_next; + // we must quit this loop before reaching the end of the list + assert(nextBuffer); + } + free(buffer); + buffer = prevBuffer; + if (buffer == NULL) + // this was also the first buffer + channel->m_firstBuffer = NULL; + } else { + // removing this item means finding the previous item to make it the last one + block = positionW>>channel->m_positionToBlockShiftW; + if (block == 0) { + // start from first item, we know it is not our item because positionW > 0 + prevItem = &buffer->m_firstItem; + } else { + // no need to check the current block, it will point to our item or a later one + // but the previous block will be a good start for sure. + block--; + prevItem = CACHE_BLOCK_ITEM_ADDR(channel,buffer,block); + } + while ((nextItem = CACHE_NEXT_ITEM(prevItem)) < item) + prevItem = nextItem; + // we must have found our item + assert(nextItem==item); + // now set the buffer + buffer->m_lastItemPositionW = CACHE_ITEM_POSITIONW(buffer,prevItem); + buffer->m_firstFreePositionW = positionW; + buffer->m_lastTimestamp = buffer->m_firstTimestamp + prevItem->m_timeOffset; + block = buffer->m_lastItemPositionW>>channel->m_positionToBlockShiftW; + buffer->lookup[block].m_offsetW = buffer->m_lastItemPositionW&channel->m_positionToOffsetMaskW; + buffer->lookup[block].m_timeOffset = prevItem->m_timeOffset; + } + // set the channel + channel->m_lastBuffer = buffer; + if (buffer) { + channel->m_lastTimestamp = buffer->m_lastTimestamp; + channel->m_lastItemPositionW = buffer->m_lastItemPositionW; + } + } + } + } + } + if (device) + break; + ++it; + } +} + +void *Cache::addCacheItem(const void *device, int id, unsigned int timestamp, void *data, unsigned int length) +{ + CacheMap::iterator it = m_cache.find(device); + CacheEntry *entry; + CacheChannel *channel; + CacheBuffer *buffer, *next; + CacheItem *item; + unsigned int positionW, sizeW, block; + + if (it == m_cache.end()) { + // device does not exist + return NULL; + } + entry = it->second; + if (id < 0 || id >= (int) entry->m_count || !entry->m_channelArray[id].m_busy) + return NULL; + channel = &entry->m_channelArray[id]; + if (length > channel->m_maxItemSizeB) + return NULL; + if (timestamp == 0) { + // initial item, delete all buffers + channel->clear(); + // and create initial item + item = NULL; + // we will allocate the memory, which is always pointer aligned => compute size + // with NULL will give same result. + sizeW = CACHE_ITEM_SIZEW(item,length); + item = (CacheItem*)calloc(sizeW, 4); + item->m_sizeW = sizeW; + channel->initItem = item; + } else { + if (!channel->m_lastBuffer) { + // no item in buffer, insert item at first position of first buffer + positionW = 0; + if ((buffer = channel->m_firstBuffer) == NULL) { + buffer = channel->allocBuffer(); + channel->m_firstBuffer = buffer; + } + } else if (timestamp > channel->m_lastTimestamp) { + // this is the normal case: we are writing past lastest timestamp + buffer = channel->m_lastBuffer; + positionW = buffer->m_firstFreePositionW; + } else if (timestamp == channel->m_lastTimestamp) { + // common case, rewriting the last timestamp, just reuse the last position + buffer = channel->m_lastBuffer; + positionW = channel->m_lastItemPositionW; + } else { + // general case, write in the middle of the buffer, locate the timestamp + // (or the timestamp just after), clear this item and all future items, + // and write at that position + item = channel->findItemOrLater(timestamp, &buffer); + if (item == NULL) { + // this should not happen + return NULL; + } + // this item will become the last one of this channel, clear any later buffer + while ((next = buffer->m_next) != NULL) { + buffer->m_next = next->m_next; + free(next); + } + // no need to update the buffer, this will be done when the item is written + positionW = CACHE_ITEM_POSITIONW(buffer,item); + } + item = CACHE_ITEM_ADDR(buffer,positionW); + sizeW = CACHE_ITEM_SIZEW(item,length); + // we have positionW pointing where we can put the item + // before we do that we have to check if we can: + // - enough room + // - timestamp not too late + if ((positionW+sizeW > channel->m_bufferSizeW) || + (positionW > 0 && timestamp >= buffer->m_firstTimestamp+0x10000)) { + // we must allocate a new buffer to store this item + // but before we must make sure that the current buffer is consistent + if (positionW != buffer->m_firstFreePositionW) { + // This means that we were trying to write in the middle of the buffer. + // We must set the buffer right with positionW being the last position + // and find the item before positionW to make it the last. + block = positionW>>channel->m_positionToBlockShiftW; + CacheItem *previousItem, *nextItem; + if (block == 0) { + // start from first item, we know it is not our item because positionW > 0 + previousItem = &buffer->m_firstItem; + } else { + // no need to check the current block, it will point to our item or a later one + // but the previous block will be a good start for sure. + block--; + previousItem = CACHE_BLOCK_ITEM_ADDR(channel,buffer,block); + } + while ((nextItem = CACHE_NEXT_ITEM(previousItem)) < item) + previousItem = nextItem; + // we must have found our item + assert(nextItem==item); + // now set the buffer + buffer->m_lastItemPositionW = CACHE_ITEM_POSITIONW(buffer,previousItem); + buffer->m_firstFreePositionW = positionW; + buffer->m_lastTimestamp = buffer->m_firstTimestamp + previousItem->m_timeOffset; + block = buffer->m_lastItemPositionW>>channel->m_positionToBlockShiftW; + buffer->lookup[block].m_offsetW = buffer->m_lastItemPositionW&channel->m_positionToOffsetMaskW; + buffer->lookup[block].m_timeOffset = previousItem->m_timeOffset; + // and also the channel, just in case + channel->m_lastBuffer = buffer; + channel->m_lastTimestamp = buffer->m_lastTimestamp; + channel->m_lastItemPositionW = buffer->m_lastItemPositionW; + } + // now allocate a new buffer + buffer->m_next = channel->allocBuffer(); + if (buffer->m_next == NULL) + return NULL; + buffer = buffer->m_next; + positionW = 0; + item = &buffer->m_firstItem; + sizeW = CACHE_ITEM_SIZEW(item,length); + } + // all check passed, ready to write the item + item->m_sizeW = sizeW; + if (positionW == 0) { + item->m_timeOffset = 0; + buffer->m_firstTimestamp = timestamp; + } else { + item->m_timeOffset = (unsigned short)(timestamp-buffer->m_firstTimestamp); + } + buffer->m_lastItemPositionW = positionW; + buffer->m_firstFreePositionW = positionW+sizeW; + buffer->m_lastTimestamp = timestamp; + block = positionW>>channel->m_positionToBlockShiftW; + buffer->lookup[block].m_offsetW = positionW&channel->m_positionToOffsetMaskW; + buffer->lookup[block].m_timeOffset = item->m_timeOffset; + buffer->m_lastItemPositionW = CACHE_ITEM_POSITIONW(buffer,item); + buffer->m_firstFreePositionW = buffer->m_lastItemPositionW+item->m_sizeW; + channel->m_lastBuffer = buffer; + channel->m_lastItemPositionW = positionW; + channel->m_lastTimestamp = timestamp; + } + // now copy the item + void *itemData = CACHE_ITEM_DATA_POINTER(item); + if (data) + memcpy(itemData, data, length); + return itemData; +} + +const void *Cache::getPreviousCacheItem(const void *device, int id, unsigned int *timestamp) +{ + CacheMap::iterator it; + CacheEntry *entry; + CacheChannel *channel; + CacheBuffer *buffer; + CacheItem *item; + + if (device) { + it = m_cache.find(device); + } else { + it = m_cache.begin(); + } + if (it == m_cache.end()) { + // device does not exist + return NULL; + } + entry = it->second; + if (id < 0 || id >= (int) entry->m_count || !entry->m_channelArray[id].m_busy) + return NULL; + channel = &entry->m_channelArray[id]; + if ((item = channel->findItemEarlier(*timestamp,&buffer)) == NULL) + return NULL; + *timestamp = (buffer) ? buffer->m_firstTimestamp+item->m_timeOffset : 0; + return CACHE_ITEM_DATA_POINTER(item); +} + +const CacheItem *Cache::getCurrentCacheItemInternal(const void *device, int id, CacheTS timestamp) +{ + CacheMap::iterator it = m_cache.find(device); + CacheEntry *entry; + CacheChannel *channel; + CacheBuffer *buffer; + CacheItem *item; + + if (it == m_cache.end()) { + // device does not exist + return NULL; + } + entry = it->second; + if (id < 0 || id >= (int) entry->m_count || !entry->m_channelArray[id].m_busy) + return NULL; + channel = &entry->m_channelArray[id]; + if ((item = channel->findItemOrLater(timestamp,&buffer)) == NULL) + return NULL; + if (buffer && buffer->m_firstTimestamp+item->m_timeOffset != timestamp) + return NULL; + return item; +} + +const void *Cache::getCurrentCacheItem(const void *device, int channel, unsigned int timestamp) +{ + const CacheItem *item = getCurrentCacheItemInternal(device, channel, timestamp); + return (item) ? CACHE_ITEM_DATA_POINTER(item) : NULL; +} + +double *Cache::addCacheVectorIfDifferent(const void *device, int channel, CacheTS timestamp, double *newdata, unsigned int length, double threshold) +{ + const CacheItem *item = getCurrentCacheItemInternal(device, channel, timestamp); + unsigned int sizeW = CACHE_ITEM_SIZEW(item,length*sizeof(double)); + if (!item || item->m_sizeW != sizeW) + return (double*)addCacheItem(device, channel, timestamp, newdata, length*sizeof(double)); + double *olddata = (double*)CACHE_ITEM_DATA_POINTER(item); + if (!length) + return olddata; + double *ref = olddata; + double *v = newdata; + unsigned int i; + for (i=length; i>0; --i) { + if (fabs(*v-*ref) > threshold) + break; + *ref++ = *v++; + } + if (i) + olddata = (double*)addCacheItem(device, channel, timestamp, newdata, length*sizeof(double)); + return olddata; +} + +} diff --git a/intern/itasc/Cache.hpp b/intern/itasc/Cache.hpp new file mode 100644 index 00000000000..64707782e6f --- /dev/null +++ b/intern/itasc/Cache.hpp @@ -0,0 +1,227 @@ +/* $Id: Cache.hpp 21152 2009-06-25 11:57:19Z ben2610 $ + * Cache.hpp + * + * Created on: Feb 24, 2009 + * Author: benoit tbolsee + */ + +#ifndef CACHE_HPP_ +#define CACHE_HPP_ + +#include <map> + +namespace iTaSC { + +#define CACHE_LOOKUP_TABLE_SIZE 128 +#define CACHE_DEFAULT_BUFFER_SIZE 32768 +#define CACHE_CHANNEL_EXTEND_SIZE 10 +#define CACHE_MAX_ITEM_SIZE 0x3FFF0 + +/* macro to get the alignement gap after an item header */ +#define CACHE_ITEM_GAPB(item) (unsigned int)(((size_t)item+sizeof(CacheItem))&(sizeof(void*)-1)) +/* macro to get item data position, item=CacheItem pointer */ +#define CACHE_ITEM_DATA_POINTER(item) (void*)((unsigned char*)item+sizeof(CacheItem)+CACHE_ITEM_GAPB(item)) +/* macro to get item size in 32bit words from item address and length, item=CacheItem pointer */ +#define CACHE_ITEM_SIZEW(item,length) (unsigned int)((sizeof(CacheItem)+CACHE_ITEM_GAPB(item)+(((length)+3)&~0x3))>>2) +/* macto to move from one item to the next, item=CacheItem pointer, updated by the macro */ +#define CACHE_NEXT_ITEM(item) ((item)+(item)->m_sizeW) +#define CACHE_BLOCK_ITEM_ADDR(chan,buf,block) (&(buf)->m_firstItem+(((unsigned int)(block)<<chan->m_positionToBlockShiftW)+(buf)->lookup[block].m_offsetW)) +#define CACHE_ITEM_ADDR(buf,pos) (&(buf)->m_firstItem+(pos)) +#define CACHE_ITEM_POSITIONW(buf,item) (unsigned int)(item-&buf->m_firstItem) + +typedef unsigned int CacheTS; + +struct Timestamp +{ + double realTimestamp; + double realTimestep; + CacheTS cacheTimestamp; + unsigned int numstep:8; + unsigned int substep:1; + unsigned int reiterate:1; + unsigned int cache:1; + unsigned int update:1; + unsigned int interpolate:1; + unsigned int dummy:19; + + Timestamp() { memset(this, 0, sizeof(Timestamp)); } +}; + +/* utility function to return second timestamp to millisecond */ +inline void setCacheTimestamp(Timestamp& timestamp) +{ + if (timestamp.realTimestamp < 0.0 || timestamp.realTimestamp > 4294967.295) + timestamp.cacheTimestamp = 0; + else + timestamp.cacheTimestamp = (CacheTS)(timestamp.realTimestamp*1000.0+0.5); +} + + +/* +class Cache: +Top level class, only one instance of this class should exists. +A device (=constraint, object) uses this class to create a cache entry for its data. +A cache entry is divided into cache channels, each providing a separate buffer for cache items. +The cache channels must be declared by the devices before they can be used. +The device must specify the largest cache item (limited to 256Kb) so that the cache +buffer can be organized optimally. +Cache channels are identified by small number (starting from 0) allocated by the cache system. +Cache items are inserted into cache channels ordered by timestamp. Writing is always done +at the end of the cache buffer: writing an item automatically clears all items with +higher timestamp. +A cache item is an array of bytes provided by the device; the format of the cache item is left +to the device. +The device can retrieve a cache item associated with a certain timestamp. The cache system +returns a pointer that points directly in the cache buffer to avoid unnecessary copy. +The pointer is guaranteed to be pointer aligned so that direct mapping to C structure is possible +(=32 bit aligned on 32 systems and 64 bit aligned on 64 bits system). + +Timestamp = rounded time in millisecond. +*/ + +struct CacheEntry; +struct CacheBuffer; +struct CacheItem; +struct CacheChannel; + +class Cache +{ +private: + /* map between device and cache entry. + Dynamically updated when more devices create cache channels */ + typedef std::map<const void *, struct CacheEntry*> CacheMap; + CacheMap m_cache; + const CacheItem *getCurrentCacheItemInternal(const void *device, int channel, CacheTS timestamp); + +public: + Cache(); + ~Cache(); + /* add a cache channel, maxItemSize must be < 256k. + name : channel name, truncated at 31 characters + msxItemSize : maximum size of item in bytes, items of larger size will be rejected + return value >= 0: channel id, -1: error */ + int addChannel(const void *device, const char *name, unsigned int maxItemSize); + + /* delete a cache channel (and all associated buffers and items) */ + int deleteChannel(const void *device, int channel); + /* delete all channels of a device and remove the device from the map */ + int deleteDevice(const void *device); + /* removes all cache items, leaving the special item at timestamp=0. + if device=NULL, apply to all devices. */ + void clearCacheFrom(const void *device, CacheTS timestamp); + + /* add a new cache item + channel: the cache channel (as returned by AddChannel + data, length: the cache item and length in bytes + If data is NULL, the memory is allocated in the cache but not writen + return: error: NULL, success: pointer to item in cache */ + void *addCacheItem(const void *device, int channel, CacheTS timestamp, void *data, unsigned int length); + + /* specialized function to add a vector of double in the cache + It will first check if a vector exist already in the cache for the same timestamp + and compared the cached vector with the new values. + If all values are within threshold, the vector is updated but the cache is not deleted + for the future timestamps. */ + double *addCacheVectorIfDifferent(const void *device, int channel, CacheTS timestamp, double *data, unsigned int length, double threshold); + + /* returns the cache item with timestamp that is just before the given timestamp. + returns the data pointer or NULL if there is no cache item before timestamp. + On return, timestamp is updated with the actual timestamp of the item being returned. + Note that the length of the item is not returned, it is up to the device to organize + the data so that length can be retrieved from the data if needed. + Device can NULL, it will then just look the first channel available, useful to + test the status of the cache. */ + const void *getPreviousCacheItem(const void *device, int channel, CacheTS *timestamp); + + /* returns the cache item with the timestamp that is exactly equal to the given timestamp + If there is no cache item for this timestamp, returns NULL.*/ + const void *getCurrentCacheItem(const void *device, int channel, CacheTS timestamp); + +}; + +/* the following structures are not internal use only, they should not be used directly */ + +struct CacheEntry +{ + CacheChannel *m_channelArray; // array of channels, automatically resized if more channels are created + unsigned int m_count; // number of channel in channelArray + CacheEntry() : m_channelArray(NULL), m_count(0) {} + ~CacheEntry(); +}; + +struct CacheChannel +{ + CacheItem* initItem; // item corresponding to timestamp=0 + struct CacheBuffer *m_firstBuffer; // first buffer of list + struct CacheBuffer *m_lastBuffer; // last buffer of list to which an item was written + char m_name[32]; // channel name + unsigned char m_busy; // =0 if channel is free, !=0 when channel is in use + unsigned char m_positionToBlockShiftW; // number of bits to shift a position in word to get the block number + unsigned short m_positionToOffsetMaskW; // bit mask to apply on a position in word to get offset in a block + unsigned int m_maxItemSizeB; // maximum item size in bytes + unsigned int m_bufferSizeW; // size of item buffer in word to allocate when a new buffer must be created + unsigned int m_blockSizeW; // block size in words of the lookup table + unsigned int m_lastTimestamp; // timestamp of the last item that was written + unsigned int m_lastItemPositionW; // position in words in lastBuffer of the last item written + void clear(); + CacheBuffer* allocBuffer(); + CacheItem* findItemOrLater(unsigned int timestamp, CacheBuffer **rBuffer); + CacheItem* findItemEarlier(unsigned int timestamp, CacheBuffer **rBuffer); + // Internal function: finds an item in a buffer that is < timeOffset + // timeOffset must be a valid offset for the buffer and the buffer must not be empty + // on return highBlock contains the block with items above or equal to timeOffset + CacheItem *_findBlock(CacheBuffer *buffer, unsigned short timeOffset, unsigned int *highBlock); +}; + +struct CacheBlock { + unsigned short m_timeOffset; // timestamp relative to m_firstTimestamp + unsigned short m_offsetW; // position in words of item relative to start of block +}; + +/* CacheItem is the header of each item in the buffer, must be 32bit + Items are always 32 bits aligned and size is the number of 32 bit words until the + next item header, including an eventual pre and post padding gap for pointer alignment */ +struct CacheItem +{ + unsigned short m_timeOffset; // timestamp relative to m_firstTimestamp + unsigned short m_sizeW; // size of item in 32 bit words + // item data follows header immediately or after a gap if position is not pointer aligned +}; + +// Buffer header +// Defined in a macro to avoid sizeof() potential problem. +// next for linked list. = NULL for last buffer +// m_firstTimestamp timestamp of first item in this buffer +// m_lastTimestamp timestamp of last item in this buffer +// m_lastTimestamp must be < m_firstTimestamp+65536 +// m_lastItemPositionW position in word of last item written +// m_firstFreePositionW position in word where a new item can be written, 0 if buffer is empty +// lookup lookup table for fast access to item by timestamp +// The buffer is divided in blocks of 2**n bytes with n chosen so that +// there are no more than CACHE_LOOKUP_TABLE_SIZE blocks and that each +// block will contain at least one item. +// Each element of the lookup table gives the timestamp and offset +// of the last cache item occupying (=starting in) the corresponding block. +#define CACHE_HEADER \ + struct CacheBuffer *m_next; \ + unsigned int m_firstTimestamp; \ + unsigned int m_lastTimestamp; \ + \ + unsigned int m_lastItemPositionW; \ + unsigned int m_firstFreePositionW;\ + struct CacheBlock lookup[CACHE_LOOKUP_TABLE_SIZE] + +struct CacheBufferHeader { + CACHE_HEADER; +}; +#define CACHE_BUFFER_HEADER_SIZE (sizeof(struct CacheBufferHeader)) +struct CacheBuffer +{ + CACHE_HEADER; + struct CacheItem m_firstItem; // the address of this field marks the start of the buffer +}; + + +} + +#endif /* CACHE_HPP_ */ diff --git a/intern/itasc/ConstraintSet.cpp b/intern/itasc/ConstraintSet.cpp new file mode 100644 index 00000000000..f47af4246e4 --- /dev/null +++ b/intern/itasc/ConstraintSet.cpp @@ -0,0 +1,170 @@ +/* $Id: ConstraintSet.cpp 19905 2009-04-23 13:29:54Z ben2610 $ + * ConstraintSet.cpp + * + * Created on: Jan 5, 2009 + * Author: rubensmits + */ + +#include "ConstraintSet.hpp" +#include "kdl/utilities/svd_eigen_HH.hpp" + +namespace iTaSC { + +ConstraintSet::ConstraintSet(unsigned int _nc,double accuracy,unsigned int maximum_iterations): + m_nc(_nc), + m_Jf(e_identity_matrix(6,6)), + m_Cf(e_zero_matrix(m_nc,6)), + m_U(e_identity_matrix(6,6)),m_V(e_identity_matrix(6,6)),m_B(e_zero_matrix(6,6)), + m_Jf_inv(e_zero_matrix(6,6)), + m_Wy(e_scalar_vector(m_nc,1.0)), + m_chi(e_zero_vector(6)),m_y(m_nc),m_ydot(e_zero_vector(m_nc)), + m_S(6),m_temp(6),m_tdelta(6), + m_internalPose(F_identity), m_externalPose(F_identity), + m_constraintCallback(NULL), m_constraintParam(NULL), + m_toggle(false),m_substep(false), + m_threshold(accuracy),m_maxIter(maximum_iterations) +{ + m_maxDeltaChi = e_scalar(0.52); +} + +ConstraintSet::ConstraintSet(): + m_nc(0), + m_internalPose(F_identity), m_externalPose(F_identity), + m_constraintCallback(NULL), m_constraintParam(NULL), + m_toggle(false),m_substep(false), + m_threshold(0.0),m_maxIter(0) +{ + m_maxDeltaChi = e_scalar(0.52); +} + +void ConstraintSet::reset(unsigned int _nc,double accuracy,unsigned int maximum_iterations) +{ + m_nc = _nc; + m_Jf = e_identity_matrix(6,6); + m_Cf = e_zero_matrix(m_nc,6); + m_U = e_identity_matrix(6,6); + m_V = e_identity_matrix(6,6); + m_B = e_zero_matrix(6,6); + m_Jf_inv = e_zero_matrix(6,6), + m_Wy = e_scalar_vector(m_nc,1.0), + m_chi = e_zero_vector(6); + m_chidot = e_zero_vector(6); + m_y = e_zero_vector(m_nc); + m_ydot = e_zero_vector(m_nc); + m_S = e_zero_vector(6); + m_temp = e_zero_vector(6); + m_tdelta = e_zero_vector(6); + m_threshold = accuracy; + m_maxIter = maximum_iterations; +} + +ConstraintSet::~ConstraintSet() { + +} + +void ConstraintSet::modelUpdate(Frame& _external_pose,const Timestamp& timestamp) +{ + m_chi+=m_chidot*timestamp.realTimestep; + m_externalPose = _external_pose; + + //update the internal pose and Jf + updateJacobian(); + //check if loop is already closed, if not update the pose and Jf + unsigned int iter=0; + while(iter<5&&!closeLoop()) + iter++; +} + +double ConstraintSet::getMaxTimestep(double& timestep) +{ + e_scalar maxChidot = m_chidot.cwise().abs().maxCoeff(); + if (timestep*maxChidot > m_maxDeltaChi) { + timestep = m_maxDeltaChi/maxChidot; + } + return timestep; +} + +bool ConstraintSet::initialise(Frame& init_pose){ + m_externalPose=init_pose; + // get current Jf + updateJacobian(); + + unsigned int iter=0; + while(iter<m_maxIter&&!closeLoop()){ + iter++; + } + if (iter<m_maxIter) + return true; + else + return false; +} + +bool ConstraintSet::setControlParameter(int id, ConstraintAction action, double data, double timestep) +{ + ConstraintValues values; + ConstraintSingleValue value; + values.values = &value; + values.number = 0; + values.action = action; + values.id = id; + value.action = action; + value.id = id; + switch (action) { + case ACT_NONE: + return true; + case ACT_VALUE: + value.yd = data; + values.number = 1; + break; + case ACT_VELOCITY: + value.yddot = data; + values.number = 1; + break; + case ACT_TOLERANCE: + values.tolerance = data; + break; + case ACT_FEEDBACK: + values.feedback = data; + break; + case ACT_ALPHA: + values.alpha = data; + break; + default: + assert(action==ACT_NONE); + } + return setControlParameters(&values, 1, timestep); +} + +bool ConstraintSet::closeLoop(){ + //Invert Jf + //TODO: svd_boost_Macie has problems if Jf contains zero-rows + //toggle=!toggle; + //svd_boost_Macie(Jf,U,S,V,B,temp,1e-3*threshold,toggle); + int ret = KDL::svd_eigen_HH(m_Jf,m_U,m_S,m_V,m_temp); + if(ret<0) + return false; + + // the reference point and frame of the jacobian is the base frame + // m_externalPose-m_internalPose is the twist to extend the end effector + // to get the required pose => change the reference point to the base frame + Twist twist_delta(diff(m_internalPose,m_externalPose)); + twist_delta=twist_delta.RefPoint(-m_internalPose.p); + for(unsigned int i=0;i<6;i++) + m_tdelta(i)=twist_delta(i); + //TODO: use damping in constraintset inversion? + for(unsigned int i=0;i<6;i++) + if(m_S(i)<m_threshold){ + m_B.row(i).setConstant(0.0); + }else + m_B.row(i) = m_U.col(i)/m_S(i); + + m_Jf_inv=(m_V*m_B).lazy(); + + m_chi+=(m_Jf_inv*m_tdelta).lazy(); + updateJacobian(); + // m_externalPose-m_internalPose in end effector frame + // this is just to compare the pose, a different formula would work too + return Equal(m_internalPose.Inverse()*m_externalPose,F_identity,m_threshold); + +} +} diff --git a/intern/itasc/ConstraintSet.hpp b/intern/itasc/ConstraintSet.hpp new file mode 100644 index 00000000000..12bb085c911 --- /dev/null +++ b/intern/itasc/ConstraintSet.hpp @@ -0,0 +1,115 @@ +/* $Id: ConstraintSet.hpp 20307 2009-05-20 20:39:18Z ben2610 $ + * ConstraintSet.hpp + * + * Created on: Jan 5, 2009 + * Author: rubensmits + */ + +#ifndef CONSTRAINTSET_HPP_ +#define CONSTRAINTSET_HPP_ + +#include "kdl/frames.hpp" +#include "eigen_types.hpp" +#include "Cache.hpp" +#include <vector> + +namespace iTaSC { + +enum ConstraintAction { + ACT_NONE= 0, + ACT_VALUE= 1, + ACT_VELOCITY= 2, + ACT_TOLERANCE= 4, + ACT_FEEDBACK= 8, + ACT_ALPHA= 16 +}; + +struct ConstraintSingleValue { + unsigned int id; // identifier of constraint value, depends on constraint + unsigned int action;// action performed, compbination of ACT_..., set on return + const double y; // actual constraint value + const double ydot; // actual constraint velocity + double yd; // current desired constraint value, changed on return + double yddot; // current desired constraint velocity, changed on return + ConstraintSingleValue(): id(0), action(0), y(0.0), ydot(0.0) {} +}; + +struct ConstraintValues { + unsigned int id; // identifier of group of constraint values, depend on constraint + unsigned short number; // number of constraints in list + unsigned short action; // action performed, ACT_..., set on return + double alpha; // constraint activation coefficient, should be [0..1] + double tolerance; // current desired tolerance on constraint, same unit than yd, changed on return + double feedback; // current desired feedback on error, in 1/sec, changed on return + struct ConstraintSingleValue* values; + ConstraintValues(): id(0), number(0), action(0), values(NULL) {} +}; + +class ConstraintSet; +typedef bool (*ConstraintCallback)(const Timestamp& timestamp, struct ConstraintValues* const _values, unsigned int _nvalues, void* _param); + +class ConstraintSet { +protected: + unsigned int m_nc; + e_scalar m_maxDeltaChi; + e_matrix m_Cf; + e_vector m_Wy,m_y,m_ydot; + e_vector6 m_chi,m_chidot,m_S,m_temp,m_tdelta; + e_matrix6 m_Jf,m_U,m_V,m_B,m_Jf_inv; + KDL::Frame m_internalPose,m_externalPose; + ConstraintCallback m_constraintCallback; + void* m_constraintParam; + void* m_poseParam; + bool m_toggle; + bool m_substep; + double m_threshold; + unsigned int m_maxIter; + + friend class Scene; + virtual void modelUpdate(KDL::Frame& _external_pose,const Timestamp& timestamp); + virtual void updateKinematics(const Timestamp& timestamp)=0; + virtual void pushCache(const Timestamp& timestamp)=0; + virtual void updateJacobian()=0; + virtual void updateControlOutput(const Timestamp& timestamp)=0; + virtual void initCache(Cache *_cache) = 0; + virtual bool initialise(KDL::Frame& init_pose); + virtual void reset(unsigned int nc,double accuracy,unsigned int maximum_iterations); + virtual bool closeLoop(); + virtual double getMaxTimestep(double& timestep); + + +public: + ConstraintSet(unsigned int nc,double accuracy,unsigned int maximum_iterations); + ConstraintSet(); + virtual ~ConstraintSet(); + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + + virtual bool registerCallback(ConstraintCallback _function, void* _param) + { + m_constraintCallback = _function; + m_constraintParam = _param; + return true; + } + + virtual const e_vector& getControlOutput()const{return m_ydot;}; + virtual const ConstraintValues* getControlParameters(unsigned int* _nvalues) = 0; + virtual bool setControlParameters(ConstraintValues* _values, unsigned int _nvalues, double timestep=0.0) = 0; + bool setControlParameter(int id, ConstraintAction action, double value, double timestep=0.0); + + virtual const e_matrix6& getJf() const{return m_Jf;}; + virtual const KDL::Frame& getPose() const{return m_internalPose;}; + virtual const e_matrix& getCf() const{return m_Cf;}; + + virtual const e_vector& getWy() const {return m_Wy;}; + virtual void setWy(const e_vector& Wy_in){m_Wy = Wy_in;}; + virtual void setJointVelocity(const e_vector chidot_in){m_chidot = chidot_in;}; + + virtual unsigned int getNrOfConstraints(){return m_nc;}; + void substep(bool _substep) {m_substep=_substep;} + bool substep() {return m_substep;} +}; + +} + +#endif /* CONSTRAINTSET_HPP_ */ diff --git a/intern/itasc/ControlledObject.cpp b/intern/itasc/ControlledObject.cpp new file mode 100644 index 00000000000..f9e819d2950 --- /dev/null +++ b/intern/itasc/ControlledObject.cpp @@ -0,0 +1,61 @@ +/* $Id: ControlledObject.cpp 19905 2009-04-23 13:29:54Z ben2610 $ + * ControlledObject.cpp + * + * Created on: Jan 5, 2009 + * Author: rubensmits + */ + +#include "ControlledObject.hpp" + + +namespace iTaSC { +ControlledObject::ControlledObject(): + Object(Controlled),m_nq(0),m_nc(0),m_nee(0) +{ + // max joint variable = 0.52 radian or 0.52 meter in one timestep + m_maxDeltaQ = e_scalar(0.52); +} + +void ControlledObject::initialize(unsigned int _nq,unsigned int _nc, unsigned int _nee) +{ + assert(_nee >= 1); + m_nq = _nq; + m_nc = _nc; + m_nee = _nee; + if (m_nq > 0) { + m_Wq = e_identity_matrix(m_nq,m_nq); + m_qdot = e_zero_vector(m_nq); + } + if (m_nc > 0) { + m_Wy = e_scalar_vector(m_nc,1.0); + m_ydot = e_zero_vector(m_nc); + } + if (m_nc > 0 && m_nq > 0) + m_Cq = e_zero_matrix(m_nc,m_nq); + // clear all Jacobian if any + m_JqArray.clear(); + // reserve one more to have a zero matrix handy + if (m_nq > 0) + m_JqArray.resize(m_nee+1, e_zero_matrix(6,m_nq)); +} + +ControlledObject::~ControlledObject() {} + + + +const e_matrix& ControlledObject::getJq(unsigned int ee) const +{ + assert(m_nq > 0); + return m_JqArray[(ee>m_nee)?m_nee:ee]; +} + +double ControlledObject::getMaxTimestep(double& timestep) +{ + e_scalar maxQdot = m_qdot.cwise().abs().maxCoeff(); + if (timestep*maxQdot > m_maxDeltaQ) { + timestep = m_maxDeltaQ/maxQdot; + } + return timestep; +} + +} diff --git a/intern/itasc/ControlledObject.hpp b/intern/itasc/ControlledObject.hpp new file mode 100644 index 00000000000..2370f6594ed --- /dev/null +++ b/intern/itasc/ControlledObject.hpp @@ -0,0 +1,70 @@ +/* $Id: ControlledObject.hpp 20853 2009-06-13 12:29:46Z ben2610 $ + * ControlledObject.hpp + * + * Created on: Jan 5, 2009 + * Author: rubensmits + */ + +#ifndef CONTROLLEDOBJECT_HPP_ +#define CONTROLLEDOBJECT_HPP_ + +#include "kdl/frames.hpp" +#include "eigen_types.hpp" + +#include "Object.hpp" +#include "ConstraintSet.hpp" +#include <vector> + +namespace iTaSC { + +#define CONSTRAINT_ID_ALL ((unsigned int)-1) + +class ControlledObject : public Object { +protected: + e_scalar m_maxDeltaQ; + unsigned int m_nq,m_nc,m_nee; + e_matrix m_Wq,m_Cq; + e_vector m_Wy,m_ydot,m_qdot; + std::vector<e_matrix> m_JqArray; +public: + ControlledObject(); + virtual ~ControlledObject(); + + class JointLockCallback { + public: + JointLockCallback() {} + virtual ~JointLockCallback() {} + + // lock a joint, no need to update output + virtual void lockJoint(unsigned int q_nr, unsigned int ndof) = 0; + // lock a joint and update output in view of reiteration + virtual void lockJoint(unsigned int q_nr, unsigned int ndof, double* qdot) = 0; + }; + + virtual void initialize(unsigned int _nq,unsigned int _nc, unsigned int _nee); + + // returns true when a joint has been locked via the callback and the solver must run again + virtual bool updateJoint(const Timestamp& timestamp, JointLockCallback& callback) = 0; + virtual void updateControlOutput(const Timestamp& timestamp)=0; + virtual void setJointVelocity(const e_vector qdot_in){m_qdot = qdot_in;}; + virtual double getMaxTimestep(double& timestep); + virtual bool setControlParameter(unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0; + + virtual const e_vector& getControlOutput() const{return m_ydot;} + + virtual const e_matrix& getJq(unsigned int ee) const; + + virtual const e_matrix& getCq() const{return m_Cq;}; + + virtual e_matrix& getWq() {return m_Wq;}; + virtual void setWq(const e_matrix& Wq_in){m_Wq = Wq_in;}; + + virtual const e_vector& getWy() const {return m_Wy;}; + + virtual const unsigned int getNrOfCoordinates(){return m_nq;}; + virtual const unsigned int getNrOfConstraints(){return m_nc;}; +}; + +} + +#endif /* CONTROLLEDOBJECT_HPP_ */ diff --git a/intern/itasc/CopyPose.cpp b/intern/itasc/CopyPose.cpp new file mode 100644 index 00000000000..df0bc38b704 --- /dev/null +++ b/intern/itasc/CopyPose.cpp @@ -0,0 +1,481 @@ +/* $Id: CopyPose.cpp 20622 2009-06-04 12:47:59Z ben2610 $ + * CopyPose.cpp + * + * Created on: Mar 17, 2009 + * Author: benoit bolsee + */ + +#include "CopyPose.hpp" +#include "kdl/kinfam_io.hpp" +#include <math.h> +#include <malloc.h> +#include <string.h> + +namespace iTaSC +{ + +const unsigned int maxPoseCacheSize = (2*(3+3*2)); +CopyPose::CopyPose(unsigned int control_output, unsigned int dynamic_output, double armlength, double accuracy, unsigned int maximum_iterations): + ConstraintSet(), + m_cache(NULL), + m_poseCCh(-1),m_poseCTs(0) +{ + m_maxerror = armlength/2.0; + m_outputControl = (control_output & CTL_ALL); + int _nc = nBitsOn(m_outputControl); + if (!_nc) + return; + // reset the constraint set + reset(_nc, accuracy, maximum_iterations); + _nc = 0; + m_nvalues = 0; + int nrot = 0, npos = 0; + int nposCache = 0, nrotCache = 0; + m_outputDynamic = (dynamic_output & m_outputControl); + memset(m_values, 0, sizeof(m_values)); + memset(m_posData, 0, sizeof(m_posData)); + memset(m_rotData, 0, sizeof(m_rotData)); + memset(&m_rot, 0, sizeof(m_rot)); + memset(&m_pos, 0, sizeof(m_pos)); + if (m_outputControl & CTL_POSITION) { + m_pos.alpha = 1.0; + m_pos.K = 20.0; + m_pos.tolerance = 0.05; + m_values[m_nvalues].alpha = m_pos.alpha; + m_values[m_nvalues].feedback = m_pos.K; + m_values[m_nvalues].tolerance = m_pos.tolerance; + m_values[m_nvalues].id = ID_POSITION; + if (m_outputControl & CTL_POSITIONX) { + m_Wy(_nc) = m_pos.alpha/*/(m_pos.tolerance*m_pos.K)*/; + m_Cf(_nc++,0)=1.0; + m_posData[npos++].id = ID_POSITIONX; + if (m_outputDynamic & CTL_POSITIONX) + nposCache++; + } + if (m_outputControl & CTL_POSITIONY) { + m_Wy(_nc) = m_pos.alpha/*/(m_pos.tolerance*m_pos.K)*/; + m_Cf(_nc++,1)=1.0; + m_posData[npos++].id = ID_POSITIONY; + if (m_outputDynamic & CTL_POSITIONY) + nposCache++; + } + if (m_outputControl & CTL_POSITIONZ) { + m_Wy(_nc) = m_pos.alpha/*/(m_pos.tolerance*m_pos.K)*/; + m_Cf(_nc++,2)=1.0; + m_posData[npos++].id = ID_POSITIONZ; + if (m_outputDynamic & CTL_POSITIONZ) + nposCache++; + } + m_values[m_nvalues].number = npos; + m_values[m_nvalues++].values = m_posData; + m_pos.firsty = 0; + m_pos.ny = npos; + } + if (m_outputControl & CTL_ROTATION) { + m_rot.alpha = 1.0; + m_rot.K = 20.0; + m_rot.tolerance = 0.05; + m_values[m_nvalues].alpha = m_rot.alpha; + m_values[m_nvalues].feedback = m_rot.K; + m_values[m_nvalues].tolerance = m_rot.tolerance; + m_values[m_nvalues].id = ID_ROTATION; + if (m_outputControl & CTL_ROTATIONX) { + m_Wy(_nc) = m_rot.alpha/*/(m_rot.tolerance*m_rot.K)*/; + m_Cf(_nc++,3)=1.0; + m_rotData[nrot++].id = ID_ROTATIONX; + if (m_outputDynamic & CTL_ROTATIONX) + nrotCache++; + } + if (m_outputControl & CTL_ROTATIONY) { + m_Wy(_nc) = m_rot.alpha/*/(m_rot.tolerance*m_rot.K)*/; + m_Cf(_nc++,4)=1.0; + m_rotData[nrot++].id = ID_ROTATIONY; + if (m_outputDynamic & CTL_ROTATIONY) + nrotCache++; + } + if (m_outputControl & CTL_ROTATIONZ) { + m_Wy(_nc) = m_rot.alpha/*/(m_rot.tolerance*m_rot.K)*/; + m_Cf(_nc++,5)=1.0; + m_rotData[nrot++].id = ID_ROTATIONZ; + if (m_outputDynamic & CTL_ROTATIONZ) + nrotCache++; + } + m_values[m_nvalues].number = nrot; + m_values[m_nvalues++].values = m_rotData; + m_rot.firsty = npos; + m_rot.ny = nrot; + } + assert(_nc == m_nc); + m_Jf=e_identity_matrix(6,6); + m_poseCacheSize = ((nrotCache)?(3+nrotCache*2):0)+((nposCache)?(3+nposCache*2):0); +} + +CopyPose::~CopyPose() +{ +} + +bool CopyPose::initialise(Frame& init_pose) +{ + m_externalPose = m_internalPose = init_pose; + updateJacobian(); + return true; +} + +void CopyPose::modelUpdate(Frame& _external_pose,const Timestamp& timestamp) +{ + m_internalPose = m_externalPose = _external_pose; + updateJacobian(); +} + +void CopyPose::initCache(Cache *_cache) +{ + m_cache = _cache; + m_poseCCh = -1; + if (m_cache) { + // create one channel for the coordinates + m_poseCCh = m_cache->addChannel(this, "Xf", m_poseCacheSize*sizeof(double)); + // don't save initial value, it will be recomputed from external pose + //pushPose(0); + } +} + +double* CopyPose::pushValues(double* item, ControlState* _state, unsigned int mask) +{ + ControlState::ControlValue* _yval; + int i; + + *item++ = _state->alpha; + *item++ = _state->K; + *item++ = _state->tolerance; + + for (i=0, _yval=_state->output; i<_state->ny; mask<<=1) { + if (m_outputControl & mask) { + if (m_outputDynamic & mask) { + *item++ = _yval->yd; + *item++ = _yval->yddot; + } + _yval++; + i++; + } + } + return item; +} + +void CopyPose::pushPose(CacheTS timestamp) +{ + if (m_poseCCh >= 0) { + if (m_poseCacheSize) { + double buf[maxPoseCacheSize]; + double *item = buf; + if (m_outputDynamic & CTL_POSITION) + item = pushValues(item, &m_pos, CTL_POSITIONX); + if (m_outputDynamic & CTL_ROTATION) + item = pushValues(item, &m_rot, CTL_ROTATIONX); + m_cache->addCacheVectorIfDifferent(this, m_poseCCh, timestamp, buf, m_poseCacheSize, KDL::epsilon); + } else + m_cache->addCacheVectorIfDifferent(this, m_poseCCh, timestamp, NULL, 0, KDL::epsilon); + m_poseCTs = timestamp; + } +} + +double* CopyPose::restoreValues(double* item, ConstraintValues* _values, ControlState* _state, unsigned int mask) +{ + ConstraintSingleValue* _data; + ControlState::ControlValue* _yval; + int i, j; + + _values->alpha = _state->alpha = *item++; + _values->feedback = _state->K = *item++; + _values->tolerance = _state->tolerance = *item++; + + for (i=_state->firsty, j=i+_state->ny, _yval=_state->output, _data=_values->values; i<j; mask<<=1) { + if (m_outputControl & mask) { + m_Wy(i) = _state->alpha/*/(_state->tolerance*_state->K)*/; + if (m_outputDynamic & mask) { + _data->yd = _yval->yd = *item++; + _data->yddot = _yval->yddot = *item++; + } + _data++; + _yval++; + i++; + } + } + return item; +} + +bool CopyPose::popPose(CacheTS timestamp) +{ + bool found = false; + if (m_poseCCh >= 0) { + double *item = (double*)m_cache->getPreviousCacheItem(this, m_poseCCh, ×tamp); + if (item) { + found = true; + if (timestamp != m_poseCTs) { + int i=0; + if (m_outputControl & CTL_POSITION) { + if (m_outputDynamic & CTL_POSITION) { + item = restoreValues(item, &m_values[i], &m_pos, CTL_POSITIONX); + } + i++; + } + if (m_outputControl & CTL_ROTATION) { + if (m_outputDynamic & CTL_ROTATION) { + item = restoreValues(item, &m_values[i], &m_rot, CTL_ROTATIONX); + } + i++; + } + m_poseCTs = timestamp; + item = NULL; + } + } + } + return found; +} + +void CopyPose::interpolateOutput(ControlState* _state, unsigned int mask, const Timestamp& timestamp) +{ + ControlState::ControlValue* _yval; + int i; + + for (i=0, _yval=_state->output; i<_state->ny; mask <<= 1) { + if (m_outputControl & mask) { + if (m_outputDynamic & mask) { + if (timestamp.substep && timestamp.interpolate) { + _yval->yd += _yval->yddot*timestamp.realTimestep; + } else { + _yval->yd = _yval->nextyd; + _yval->yddot = _yval->nextyddot; + } + } + i++; + _yval++; + } + } +} + +void CopyPose::pushCache(const Timestamp& timestamp) +{ + if (!timestamp.substep && timestamp.cache) { + pushPose(timestamp.cacheTimestamp); + } +} + +void CopyPose::updateKinematics(const Timestamp& timestamp) +{ + if (timestamp.interpolate) { + if (m_outputDynamic & CTL_POSITION) + interpolateOutput(&m_pos, CTL_POSITIONX, timestamp); + if (m_outputDynamic & CTL_ROTATION) + interpolateOutput(&m_rot, CTL_ROTATIONX, timestamp); + } + pushCache(timestamp); +} + +void CopyPose::updateJacobian() +{ + //Jacobian is always identity at the start of the constraint chain + //instead of going through complicated jacobian operation, implemented direct formula + //m_Jf(1,3) = m_internalPose.p.z(); + //m_Jf(2,3) = -m_internalPose.p.y(); + //m_Jf(0,4) = -m_internalPose.p.z(); + //m_Jf(2,4) = m_internalPose.p.x(); + //m_Jf(0,5) = m_internalPose.p.y(); + //m_Jf(1,5) = -m_internalPose.p.x(); +} + +void CopyPose::updateState(ConstraintValues* _values, ControlState* _state, unsigned int mask, double timestep) +{ + int id = (mask == CTL_ROTATIONX) ? ID_ROTATIONX : ID_POSITIONX; + ControlState::ControlValue* _yval; + ConstraintSingleValue* _data; + int i, j, k; + int action = 0; + + if ((_values->action & ACT_ALPHA) && _values->alpha >= 0.0) { + _state->alpha = _values->alpha; + action |= ACT_ALPHA; + } + if ((_values->action & ACT_TOLERANCE) && _values->tolerance > KDL::epsilon) { + _state->tolerance = _values->tolerance; + action |= ACT_TOLERANCE; + } + if ((_values->action & ACT_FEEDBACK) && _values->feedback > KDL::epsilon) { + _state->K = _values->feedback; + action |= ACT_FEEDBACK; + } + for (i=_state->firsty, j=_state->firsty+_state->ny, _yval=_state->output; i<j; mask <<= 1, id++) { + if (m_outputControl & mask) { + if (action) + m_Wy(i) = _state->alpha/*/(_state->tolerance*_state->K)*/; + // check if this controlled output is provided + for (k=0, _data=_values->values; k<_values->number; k++, _data++) { + if (_data->id == id) { + switch (_data->action & (ACT_VALUE|ACT_VELOCITY)) { + case 0: + // no indication, keep current values + break; + case ACT_VELOCITY: + // only the velocity is given estimate the new value by integration + _data->yd = _yval->yd+_data->yddot*timestep; + // walkthrough + case ACT_VALUE: + _yval->nextyd = _data->yd; + // if the user sets the value, we assume future velocity is zero + // (until the user changes the value again) + _yval->nextyddot = (_data->action & ACT_VALUE) ? 0.0 : _data->yddot; + if (timestep>0.0) { + _yval->yddot = (_data->yd-_yval->yd)/timestep; + } else { + // allow the user to change target instantenously when this function + // if called from setControlParameter with timestep = 0 + _yval->yd = _yval->nextyd; + _yval->yddot = _yval->nextyddot; + } + break; + case (ACT_VALUE|ACT_VELOCITY): + // the user should not set the value and velocity at the same time. + // In this case, we will assume that he wants to set the future value + // and we compute the current value to match the velocity + _yval->yd = _data->yd - _data->yddot*timestep; + _yval->nextyd = _data->yd; + _yval->nextyddot = _data->yddot; + if (timestep>0.0) { + _yval->yddot = (_data->yd-_yval->yd)/timestep; + } else { + _yval->yd = _yval->nextyd; + _yval->yddot = _yval->nextyddot; + } + break; + } + } + } + _yval++; + i++; + } + } +} + + +bool CopyPose::setControlParameters(struct ConstraintValues* _values, unsigned int _nvalues, double timestep) +{ + while (_nvalues > 0) { + if (_values->id >= ID_POSITION && _values->id <= ID_POSITIONZ && (m_outputControl & CTL_POSITION)) { + updateState(_values, &m_pos, CTL_POSITIONX, timestep); + } + if (_values->id >= ID_ROTATION && _values->id <= ID_ROTATIONZ && (m_outputControl & CTL_ROTATION)) { + updateState(_values, &m_rot, CTL_ROTATIONX, timestep); + } + _values++; + _nvalues--; + } + return true; +} + +void CopyPose::updateValues(Vector& vel, ConstraintValues* _values, ControlState* _state, unsigned int mask) +{ + ConstraintSingleValue* _data; + ControlState::ControlValue* _yval; + int i, j; + + _values->action = 0; + + for (i=_state->firsty, j=0, _yval=_state->output, _data=_values->values; j<3; j++, mask<<=1) { + if (m_outputControl & mask) { + *(double*)&_data->y = vel(j); + *(double*)&_data->ydot = m_ydot(i); + _data->yd = _yval->yd; + _data->yddot = _yval->yddot; + _data->action = 0; + i++; + _data++; + _yval++; + } + } +} + +void CopyPose::updateOutput(Vector& vel, ControlState* _state, unsigned int mask) +{ + ControlState::ControlValue* _yval; + int i, j; + double coef=1.0; + if (mask & CTL_POSITION) { + // put a limit on position error + double len=0.0; + for (j=0, _yval=_state->output; j<3; j++) { + if (m_outputControl & (mask<<j)) { + len += KDL::sqr(_yval->yd-vel(j)); + _yval++; + } + } + len = KDL::sqrt(len); + if (len > m_maxerror) + coef = m_maxerror/len; + } + for (i=_state->firsty, j=0, _yval=_state->output; j<3; j++) { + if (m_outputControl & (mask<<j)) { + m_ydot(i)=_yval->yddot+_state->K*coef*(_yval->yd-vel(j)); + _yval++; + i++; + } + } +} + +void CopyPose::updateControlOutput(const Timestamp& timestamp) +{ + //IMO this should be done, no idea if it is enough (wrt Distance impl) + Twist y = diff(F_identity, m_internalPose); + bool found = true; + if (!timestamp.substep) { + if (!timestamp.reiterate) { + found = popPose(timestamp.cacheTimestamp); + } + } + if (m_constraintCallback && (m_substep || (!timestamp.reiterate && !timestamp.substep))) { + // initialize first callback the application to get the current values + int i=0; + if (m_outputControl & CTL_POSITION) { + updateValues(y.vel, &m_values[i++], &m_pos, CTL_POSITIONX); + } + if (m_outputControl & CTL_ROTATION) { + updateValues(y.rot, &m_values[i++], &m_rot, CTL_ROTATIONX); + } + if ((*m_constraintCallback)(timestamp, m_values, m_nvalues, m_constraintParam)) { + setControlParameters(m_values, m_nvalues, (found && timestamp.interpolate)?timestamp.realTimestep:0.0); + } + } + if (m_outputControl & CTL_POSITION) { + updateOutput(y.vel, &m_pos, CTL_POSITIONX); + } + if (m_outputControl & CTL_ROTATION) { + updateOutput(y.rot, &m_rot, CTL_ROTATIONX); + } +} + +const ConstraintValues* CopyPose::getControlParameters(unsigned int* _nvalues) +{ + Twist y = diff(m_internalPose,F_identity); + int i=0; + if (m_outputControl & CTL_POSITION) { + updateValues(y.vel, &m_values[i++], &m_pos, CTL_POSITIONX); + } + if (m_outputControl & CTL_ROTATION) { + updateValues(y.rot, &m_values[i++], &m_rot, CTL_ROTATIONX); + } + if (_nvalues) + *_nvalues=m_nvalues; + return m_values; +} + +double CopyPose::getMaxTimestep(double& timestep) +{ + // CopyPose should not have any limit on linear velocity: + // in case the target is out of reach, this can be very high. + // We will simply limit on rotation + e_scalar maxChidot = m_chidot.block(3,0,3,1).cwise().abs().maxCoeff(); + if (timestep*maxChidot > m_maxDeltaChi) { + timestep = m_maxDeltaChi/maxChidot; + } + return timestep; +} + +} diff --git a/intern/itasc/CopyPose.hpp b/intern/itasc/CopyPose.hpp new file mode 100644 index 00000000000..3a3f60a9f37 --- /dev/null +++ b/intern/itasc/CopyPose.hpp @@ -0,0 +1,99 @@ +/* $Id: CopyPose.hpp 20622 2009-06-04 12:47:59Z ben2610 $ + * CopyPose.h + * + * Created on: Mar 17, 2009 + * Author: benoit bolsee + */ + +#ifndef COPYPOSE_H_ +#define COPYPOSE_H_ + +#include "ConstraintSet.hpp" +namespace iTaSC{ + +using namespace KDL; + +class CopyPose: public iTaSC::ConstraintSet +{ +protected: + virtual void updateKinematics(const Timestamp& timestamp); + virtual void pushCache(const Timestamp& timestamp); + virtual void updateJacobian(); + virtual bool initialise(Frame& init_pose); + virtual void initCache(Cache *_cache); + virtual void updateControlOutput(const Timestamp& timestamp); + virtual void modelUpdate(Frame& _external_pose,const Timestamp& timestamp); + virtual double getMaxTimestep(double& timestep); + +public: + enum ID { // constraint ID in callback and setControlParameter + ID_POSITION=0, + ID_POSITIONX=1, + ID_POSITIONY=2, + ID_POSITIONZ=3, + ID_ROTATION=4, + ID_ROTATIONX=5, + ID_ROTATIONY=6, + ID_ROTATIONZ=7, + }; + enum CTL { // control ID in constructor to specify which output is constrainted + CTL_NONE=0x00, + CTL_POSITIONX=0x01, // the bit order is important: it matches the y output order + CTL_POSITIONY=0x02, + CTL_POSITIONZ=0x04, + CTL_POSITION=0x07, + CTL_ROTATIONX=0x08, + CTL_ROTATIONY=0x10, + CTL_ROTATIONZ=0x20, + CTL_ROTATION=0x38, + CTL_ALL=0x3F, + }; + + // use a combination of CTL_.. in control_output to specify which + CopyPose(unsigned int control_output=CTL_ALL, unsigned int dynamic_output=CTL_NONE, double armlength=1.0, double accuracy=1e-6, unsigned int maximum_iterations=100); + virtual ~CopyPose(); + + virtual bool setControlParameters(struct ConstraintValues* _values, unsigned int _nvalues, double timestep); + virtual const ConstraintValues* getControlParameters(unsigned int* _nvalues); + +private: + struct ConstraintSingleValue m_posData[3]; // index = controlled output in X,Y,Z order + struct ConstraintSingleValue m_rotData[3]; + struct ConstraintValues m_values[2]; // index = group of controlled output, in position, rotation order + Cache* m_cache; + int m_poseCCh; + CacheTS m_poseCTs; + unsigned int m_poseCacheSize; + unsigned int m_outputDynamic; // combination of CTL_... determine which variables are dynamically controlled by the application + unsigned int m_outputControl; // combination of CTL_... determine which output are constrained + unsigned int m_nvalues; // number of elements used in m_values[] + double m_maxerror; + + struct ControlState { + int firsty; // first y index + int ny; // number of y in output + double alpha; + double K; + double tolerance; + struct ControlValue { + double yddot; + double yd; + double nextyd; + double nextyddot; + } output[3]; // inded numbex = same as m_rotData + } m_rot, m_pos; + + void pushPose(CacheTS timestamp); + bool popPose(CacheTS timestamp); + int nBitsOn(unsigned int v) + { int n=0; while(v) { if (v&1) n++; v>>=1; } return n; } + double* restoreValues(double* item, ConstraintValues* _values, ControlState* _state, unsigned int mask); + double* pushValues(double* item, ControlState* _state, unsigned int mask); + void updateState(ConstraintValues* _values, ControlState* _state, unsigned int mask, double timestep); + void updateValues(Vector& vel, ConstraintValues* _values, ControlState* _state, unsigned int mask); + void updateOutput(Vector& vel, ControlState* _state, unsigned int mask); + void interpolateOutput(ControlState* _state, unsigned int mask, const Timestamp& timestamp); + +}; +} +#endif /* COPYROTATION_H_ */ diff --git a/intern/itasc/Distance.cpp b/intern/itasc/Distance.cpp new file mode 100644 index 00000000000..03fa1762567 --- /dev/null +++ b/intern/itasc/Distance.cpp @@ -0,0 +1,322 @@ +/* $Id: Distance.cpp 20603 2009-06-03 15:17:52Z ben2610 $ + * Distance.cpp + * + * Created on: Jan 30, 2009 + * Author: rsmits + */ + +#include "Distance.hpp" +#include "kdl/kinfam_io.hpp" +#include <math.h> +#include <malloc.h> +#include <string.h> + +namespace iTaSC +{ +// a distance constraint is characterized by 5 values: alpha, tolerance, K, yd, yddot +static const unsigned int distanceCacheSize = sizeof(double)*5 + sizeof(e_scalar)*6; + +Distance::Distance(double armlength, double accuracy, unsigned int maximum_iterations): + ConstraintSet(1,accuracy,maximum_iterations), + m_chiKdl(6),m_jac(6),m_cache(NULL), + m_distCCh(-1),m_distCTs(0) +{ + m_chain.addSegment(Segment(Joint(Joint::RotZ))); + m_chain.addSegment(Segment(Joint(Joint::RotX))); + m_chain.addSegment(Segment(Joint(Joint::TransY))); + m_chain.addSegment(Segment(Joint(Joint::RotZ))); + m_chain.addSegment(Segment(Joint(Joint::RotY))); + m_chain.addSegment(Segment(Joint(Joint::RotX))); + + m_fksolver = new KDL::ChainFkSolverPos_recursive(m_chain); + m_jacsolver = new KDL::ChainJntToJacSolver(m_chain); + m_Cf(0,2)=1.0; + m_alpha = 1.0; + m_tolerance = 0.05; + m_maxerror = armlength/2.0; + m_K = 20.0; + m_Wy(0) = m_alpha/*/(m_tolerance*m_K)*/; + m_yddot = m_nextyddot = 0.0; + m_yd = m_nextyd = KDL::epsilon; + memset(&m_data, 0, sizeof(m_data)); + // initialize the data with normally fixed values + m_data.id = ID_DISTANCE; + m_values.id = ID_DISTANCE; + m_values.number = 1; + m_values.alpha = m_alpha; + m_values.feedback = m_K; + m_values.tolerance = m_tolerance; + m_values.values = &m_data; +} + +Distance::~Distance() +{ + delete m_fksolver; + delete m_jacsolver; +} + +bool Distance::computeChi(Frame& pose) +{ + double dist, alpha, beta, gamma; + dist = pose.p.Norm(); + Rotation basis; + if (dist < KDL::epsilon) { + // distance is almost 0, no need for initial rotation + m_chi(0) = 0.0; + m_chi(1) = 0.0; + } else { + // find the XZ angles that bring the Y axis to point to init_pose.p + Vector axis(pose.p/dist); + beta = 0.0; + if (fabs(axis(2)) > 1-KDL::epsilon) { + // direction is aligned on Z axis, just rotation on X + alpha = 0.0; + gamma = KDL::sign(axis(2))*KDL::PI/2; + } else { + alpha = -KDL::atan2(axis(0), axis(1)); + gamma = KDL::atan2(axis(2), KDL::sqrt(KDL::sqr(axis(0))+KDL::sqr(axis(1)))); + } + // rotation after first 2 joints + basis = Rotation::EulerZYX(alpha, beta, gamma); + m_chi(0) = alpha; + m_chi(1) = gamma; + } + m_chi(2) = dist; + basis = basis.Inverse()*pose.M; + basis.GetEulerZYX(alpha, beta, gamma); + // alpha = rotation on Z + // beta = rotation on Y + // gamma = rotation on X in that order + // it corresponds to the joint order, so just assign + m_chi(3) = alpha; + m_chi(4) = beta; + m_chi(5) = gamma; + return true; +} + +bool Distance::initialise(Frame& init_pose) +{ + // we will initialize m_chi to values that match the pose + m_externalPose=init_pose; + computeChi(m_externalPose); + // get current Jf and update internal pose + updateJacobian(); + return true; +} + +bool Distance::closeLoop() +{ + if (!Equal(m_internalPose.Inverse()*m_externalPose,F_identity,m_threshold)){ + computeChi(m_externalPose); + updateJacobian(); + } + return true; +} + +void Distance::initCache(Cache *_cache) +{ + m_cache = _cache; + m_distCCh = -1; + if (m_cache) { + // create one channel for the coordinates + m_distCCh = m_cache->addChannel(this, "Xf", distanceCacheSize); + // save initial constraint in cache position 0 + pushDist(0); + } +} + +void Distance::pushDist(CacheTS timestamp) +{ + if (m_distCCh >= 0) { + double *item = (double*)m_cache->addCacheItem(this, m_distCCh, timestamp, NULL, distanceCacheSize); + if (item) { + *item++ = m_K; + *item++ = m_tolerance; + *item++ = m_yd; + *item++ = m_yddot; + *item++ = m_alpha; + memcpy(item, &m_chi[0], 6*sizeof(e_scalar)); + } + m_distCTs = timestamp; + } +} + +bool Distance::popDist(CacheTS timestamp) +{ + if (m_distCCh >= 0) { + double *item = (double*)m_cache->getPreviousCacheItem(this, m_distCCh, ×tamp); + if (item && timestamp != m_distCTs) { + m_values.feedback = m_K = *item++; + m_values.tolerance = m_tolerance = *item++; + m_yd = *item++; + m_yddot = *item++; + m_values.alpha = m_alpha = *item++; + memcpy(&m_chi[0], item, 6*sizeof(e_scalar)); + m_distCTs = timestamp; + m_Wy(0) = m_alpha/*/(m_tolerance*m_K)*/; + updateJacobian(); + } + return (item) ? true : false; + } + return true; +} + +void Distance::pushCache(const Timestamp& timestamp) +{ + if (!timestamp.substep && timestamp.cache) + pushDist(timestamp.cacheTimestamp); +} + +void Distance::updateKinematics(const Timestamp& timestamp) +{ + if (timestamp.interpolate) { + //the internal pose and Jf is already up to date (see model_update) + //update the desired output based on yddot + if (timestamp.substep) { + m_yd += m_yddot*timestamp.realTimestep; + if (m_yd < KDL::epsilon) + m_yd = KDL::epsilon; + } else { + m_yd = m_nextyd; + m_yddot = m_nextyddot; + } + } + pushCache(timestamp); +} + +void Distance::updateJacobian() +{ + for(unsigned int i=0;i<6;i++) + m_chiKdl(i)=m_chi(i); + + m_fksolver->JntToCart(m_chiKdl,m_internalPose); + m_jacsolver->JntToJac(m_chiKdl,m_jac); + changeRefPoint(m_jac,-m_internalPose.p,m_jac); + for(unsigned int i=0;i<6;i++) + for(unsigned int j=0;j<6;j++) + m_Jf(i,j)=m_jac(i,j); +} + +bool Distance::setControlParameters(struct ConstraintValues* _values, unsigned int _nvalues, double timestep) +{ + int action = 0; + int i; + ConstraintSingleValue* _data; + + while (_nvalues > 0) { + if (_values->id == ID_DISTANCE) { + if ((_values->action & ACT_ALPHA) && _values->alpha >= 0.0) { + m_alpha = _values->alpha; + action |= ACT_ALPHA; + } + if ((_values->action & ACT_TOLERANCE) && _values->tolerance > KDL::epsilon) { + m_tolerance = _values->tolerance; + action |= ACT_TOLERANCE; + } + if ((_values->action & ACT_FEEDBACK) && _values->feedback > KDL::epsilon) { + m_K = _values->feedback; + action |= ACT_FEEDBACK; + } + for (_data = _values->values, i=0; i<_values->number; i++, _data++) { + if (_data->id == ID_DISTANCE) { + switch (_data->action & (ACT_VALUE|ACT_VELOCITY)) { + case 0: + // no indication, keep current values + break; + case ACT_VELOCITY: + // only the velocity is given estimate the new value by integration + _data->yd = m_yd+_data->yddot*timestep; + // walkthrough for negative value correction + case ACT_VALUE: + // only the value is given, estimate the velocity from previous value + if (_data->yd < KDL::epsilon) + _data->yd = KDL::epsilon; + m_nextyd = _data->yd; + // if the user sets the value, we assume future velocity is zero + // (until the user changes the value again) + m_nextyddot = (_data->action & ACT_VALUE) ? 0.0 : _data->yddot; + if (timestep>0.0) { + m_yddot = (_data->yd-m_yd)/timestep; + } else { + // allow the user to change target instantenously when this function + // if called from setControlParameter with timestep = 0 + m_yddot = m_nextyddot; + m_yd = m_nextyd; + } + break; + case (ACT_VALUE|ACT_VELOCITY): + // the user should not set the value and velocity at the same time. + // In this case, we will assume that he want to set the future value + // and we compute the current value to match the velocity + if (_data->yd < KDL::epsilon) + _data->yd = KDL::epsilon; + m_yd = _data->yd - _data->yddot*timestep; + if (m_yd < KDL::epsilon) + m_yd = KDL::epsilon; + m_nextyd = _data->yd; + m_nextyddot = _data->yddot; + if (timestep>0.0) { + m_yddot = (_data->yd-m_yd)/timestep; + } else { + m_yd = m_nextyd; + m_yddot = m_nextyddot; + } + break; + } + } + } + } + _nvalues--; + _values++; + } + if (action & (ACT_TOLERANCE|ACT_FEEDBACK|ACT_ALPHA)) { + // recompute the weight + m_Wy(0) = m_alpha/*/(m_tolerance*m_K)*/; + } + return true; +} + +const ConstraintValues* Distance::getControlParameters(unsigned int* _nvalues) +{ + *(double*)&m_data.y = m_chi(2); + *(double*)&m_data.ydot = m_ydot(0); + m_data.yd = m_yd; + m_data.yddot = m_yddot; + m_data.action = 0; + m_values.action = 0; + if (_nvalues) + *_nvalues=1; + return &m_values; +} + +void Distance::updateControlOutput(const Timestamp& timestamp) +{ + bool cacheAvail = true; + if (!timestamp.substep) { + if (!timestamp.reiterate) + cacheAvail = popDist(timestamp.cacheTimestamp); + } + if (m_constraintCallback && (m_substep || (!timestamp.reiterate && !timestamp.substep))) { + // initialize first callback the application to get the current values + *(double*)&m_data.y = m_chi(2); + *(double*)&m_data.ydot = m_ydot(0); + m_data.yd = m_yd; + m_data.yddot = m_yddot; + m_data.action = 0; + m_values.action = 0; + if ((*m_constraintCallback)(timestamp, &m_values, 1, m_constraintParam)) { + setControlParameters(&m_values, 1, timestamp.realTimestep); + } + } + if (!cacheAvail || !timestamp.interpolate) { + // first position in cache: set the desired output immediately as we cannot interpolate + m_yd = m_nextyd; + m_yddot = m_nextyddot; + } + double error = m_yd-m_chi(2); + if (KDL::Norm(error) > m_maxerror) + error = KDL::sign(error)*m_maxerror; + m_ydot(0)=m_yddot+m_K*error; +} + +} diff --git a/intern/itasc/Distance.hpp b/intern/itasc/Distance.hpp new file mode 100644 index 00000000000..1366693743e --- /dev/null +++ b/intern/itasc/Distance.hpp @@ -0,0 +1,62 @@ +/* $Id: Distance.hpp 19905 2009-04-23 13:29:54Z ben2610 $ + * Distance.hpp + * + * Created on: Jan 30, 2009 + * Author: rsmits + */ + +#ifndef DISTANCE_HPP_ +#define DISTANCE_HPP_ + +#include "ConstraintSet.hpp" +#include "kdl/chain.hpp" +#include "kdl/chainfksolverpos_recursive.hpp" +#include "kdl/chainjnttojacsolver.hpp" + +namespace iTaSC +{ + +class Distance: public iTaSC::ConstraintSet +{ +protected: + virtual void updateKinematics(const Timestamp& timestamp); + virtual void pushCache(const Timestamp& timestamp); + virtual void updateJacobian(); + virtual bool initialise(Frame& init_pose); + virtual void initCache(Cache *_cache); + virtual void updateControlOutput(const Timestamp& timestamp); + virtual bool closeLoop(); + +public: + enum ID { + ID_DISTANCE=1, + }; + Distance(double armlength=1.0, double accuracy=1e-6, unsigned int maximum_iterations=100); + virtual ~Distance(); + + virtual bool setControlParameters(struct ConstraintValues* _values, unsigned int _nvalues, double timestep); + virtual const ConstraintValues* getControlParameters(unsigned int* _nvalues); + +private: + bool computeChi(Frame& pose); + KDL::Chain m_chain; + KDL::ChainFkSolverPos_recursive* m_fksolver; + KDL::ChainJntToJacSolver* m_jacsolver; + KDL::JntArray m_chiKdl; + KDL::Jacobian m_jac; + struct ConstraintSingleValue m_data; + struct ConstraintValues m_values; + Cache* m_cache; + int m_distCCh; + CacheTS m_distCTs; + double m_maxerror; + + void pushDist(CacheTS timestamp); + bool popDist(CacheTS timestamp); + + double m_alpha,m_yddot,m_yd,m_nextyd,m_nextyddot,m_K,m_tolerance; +}; + +} + +#endif /* DISTANCE_HPP_ */ diff --git a/intern/itasc/FixedObject.cpp b/intern/itasc/FixedObject.cpp new file mode 100644 index 00000000000..1360c3c152b --- /dev/null +++ b/intern/itasc/FixedObject.cpp @@ -0,0 +1,70 @@ +/* $Id: FixedObject.cpp 19905 2009-04-23 13:29:54Z ben2610 $ + * FixedObject.cpp + * + * Created on: Feb 10, 2009 + * Author: benoitbolsee + */ + +#include "FixedObject.hpp" + +namespace iTaSC{ + + +FixedObject::FixedObject():UncontrolledObject(), + m_finalized(false), m_nframe(0) +{ +} + +FixedObject::~FixedObject() +{ + m_frameArray.clear(); +} + +int FixedObject::addFrame(const std::string& name, const Frame& frame) +{ + if (m_finalized) + return -1; + FrameList::iterator it; + unsigned int i; + for (i=0, it=m_frameArray.begin(); i<m_nframe; i++, it++) { + if (it->first == name) { + // this frame will replace the old frame + it->second = frame; + return i; + } + } + m_frameArray.push_back(FrameList::value_type(name,frame)); + return m_nframe++; +} + +int FixedObject::addEndEffector(const std::string& name) +{ + // verify that this frame name exist + FrameList::iterator it; + unsigned int i; + for (i=0, it=m_frameArray.begin(); i<m_nframe; i++, it++) { + if (it->first == name) { + return i; + } + } + return -1; +} + +void FixedObject::finalize() +{ + if (m_finalized) + return; + initialize(0, m_nframe); + m_finalized = true; +} + +const Frame& FixedObject::getPose(const unsigned int frameIndex) +{ + if (frameIndex < m_nframe) { + return m_frameArray[frameIndex].second; + } else { + return F_identity; + } +} + +} diff --git a/intern/itasc/FixedObject.hpp b/intern/itasc/FixedObject.hpp new file mode 100644 index 00000000000..01ab3355259 --- /dev/null +++ b/intern/itasc/FixedObject.hpp @@ -0,0 +1,45 @@ +/* $Id: FixedObject.hpp 19905 2009-04-23 13:29:54Z ben2610 $ + * FixedObject.h + * + * Created on: Feb 10, 2009 + * Author: benoitbolsee + */ + +#ifndef FIXEDOBJECT_HPP_ +#define FIXEDOBJECT_HPP_ + +#include "UncontrolledObject.hpp" +#include <vector> + + +namespace iTaSC{ + +class FixedObject: public UncontrolledObject { +public: + FixedObject(); + virtual ~FixedObject(); + + int addFrame(const std::string& name, const Frame& frame); + + virtual void updateCoordinates(const Timestamp& timestamp) {}; + virtual int addEndEffector(const std::string& name); + virtual void finalize(); + virtual const Frame& getPose(const unsigned int frameIndex); + virtual void updateKinematics(const Timestamp& timestamp) {}; + virtual void pushCache(const Timestamp& timestamp) {}; + virtual void initCache(Cache *_cache) {}; + +protected: + virtual void updateJacobian() {} +private: + typedef std::vector<std::pair<std::string, Frame> > FrameList; + + bool m_finalized; + unsigned int m_nframe; + FrameList m_frameArray; + +}; + +} + +#endif /* FIXEDOBJECT_H_ */ diff --git a/intern/itasc/Makefile b/intern/itasc/Makefile new file mode 100644 index 00000000000..463f7763cd2 --- /dev/null +++ b/intern/itasc/Makefile @@ -0,0 +1,53 @@ +# +# $Id: Makefile 19907 2009-04-23 13:41:59Z ben2610 $ +# +# ***** BEGIN GPL LICENSE BLOCK ***** +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 +# of the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software Foundation, +# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. +# All rights reserved. +# +# The Original Code is: all of this file. +# +# Contributor(s): Hans Lambermont +# +# ***** END GPL LICENSE BLOCK ***** +# iksolver main makefile. +# + + +LIBNAME = itasc +DIR = $(OCGDIR)/intern/$(SOURCEDIR) + +include nan_compile.mk + +CPPFLAGS += -I. +CPPFLAGS += -I../../extern/Eigen2 + +install: all debug + @[ -d $(NAN_ITASC) ] || mkdir $(NAN_ITASC) + @[ -d $(NAN_ITASC)/lib ] || mkdir $(NAN_ITASC)/lib + @[ -d $(NAN_ITASC)/lib/debug ] || mkdir $(NAN_ITASC)/lib/debug + @../tools/cpifdiff.sh $(DIR)/libitasc.a $(NAN_ITASC)/lib/ + @../tools/cpifdiff.sh $(DIR)/debug/libitasc.a $(NAN_ITASC)/lib/debug/ +ifeq ($(OS),darwin) + ranlib $(NAN_ITASC)/lib/libitasc.a + ranlib $(NAN_ITASC)/lib/debug/libitasc.a +endif +############################## +DIRS = kdl +SOURCEDIR = intern/$(LIBNAME) +include nan_subdirs.mk diff --git a/intern/itasc/MovingFrame.cpp b/intern/itasc/MovingFrame.cpp new file mode 100644 index 00000000000..545f9bd38e9 --- /dev/null +++ b/intern/itasc/MovingFrame.cpp @@ -0,0 +1,157 @@ +/* $Id: MovingFrame.cpp 20853 2009-06-13 12:29:46Z ben2610 $ + * MovingFrame.cpp + * + * Created on: Feb 10, 2009 + * Author: benoitbolsee + */ + +#include "MovingFrame.hpp" +#include <malloc.h> +#include <string.h> +namespace iTaSC{ + +static const unsigned int frameCacheSize = (sizeof(((Frame*)0)->p.data)+sizeof(((Frame*)0)->M.data))/sizeof(double); + +MovingFrame::MovingFrame(const Frame& frame):UncontrolledObject(), + m_function(NULL), m_param(NULL), m_velocity(), m_poseCCh(-1), m_poseCTs(0) +{ + m_internalPose = m_nextPose = frame; + initialize(6, 1); + e_matrix& Ju = m_JuArray[0]; + Ju = e_identity_matrix(6,6); +} + +MovingFrame::~MovingFrame() +{ +} + +void MovingFrame::finalize() +{ + updateJacobian(); +} + +void MovingFrame::initCache(Cache *_cache) +{ + m_cache = _cache; + m_poseCCh = -1; + if (m_cache) { + m_poseCCh = m_cache->addChannel(this,"pose",frameCacheSize*sizeof(double)); + // don't store the initial pose, it's causing unnecessary large velocity on the first step + //pushInternalFrame(0); + } +} + +void MovingFrame::pushInternalFrame(CacheTS timestamp) +{ + if (m_poseCCh >= 0) { + double buf[frameCacheSize]; + memcpy(buf, m_internalPose.p.data, sizeof(m_internalPose.p.data)); + memcpy(&buf[sizeof(m_internalPose.p.data)/sizeof(double)], m_internalPose.M.data, sizeof(m_internalPose.M.data)); + + m_cache->addCacheVectorIfDifferent(this, m_poseCCh, timestamp, buf, frameCacheSize, KDL::epsilon); + m_poseCTs = timestamp; + } +} + +// load pose just preceeding timestamp +// return false if no cache position was found +bool MovingFrame::popInternalFrame(CacheTS timestamp) +{ + if (m_poseCCh >= 0) { + char *item; + item = (char *)m_cache->getPreviousCacheItem(this, m_poseCCh, ×tamp); + if (item && m_poseCTs != timestamp) { + memcpy(m_internalPose.p.data, item, sizeof(m_internalPose.p.data)); + item += sizeof(m_internalPose.p.data); + memcpy(m_internalPose.M.data, item, sizeof(m_internalPose.M.data)); + m_poseCTs = timestamp; + // changing the starting pose, recompute the jacobian + updateJacobian(); + } + return (item) ? true : false; + } + // in case of no cache, there is always a previous position + return true; +} + +bool MovingFrame::setFrame(const Frame& frame) +{ + m_internalPose = m_nextPose = frame; + return true; +} + +bool MovingFrame::setCallback(MovingFrameCallback _function, void* _param) +{ + m_function = _function; + m_param = _param; + return true; +} + +void MovingFrame::updateCoordinates(const Timestamp& timestamp) +{ + // don't compute the velocity during substepping, it is assumed constant. + if (!timestamp.substep) { + bool cacheAvail = true; + if (!timestamp.reiterate) { + cacheAvail = popInternalFrame(timestamp.cacheTimestamp); + if (m_function) + (*m_function)(timestamp, m_internalPose, m_nextPose, m_param); + } + // only compute velocity if we have a previous pose + if (cacheAvail && timestamp.interpolate) { + unsigned int iXu; + m_velocity = diff(m_internalPose, m_nextPose, timestamp.realTimestep); + for (iXu=0; iXu<6; iXu++) + m_xudot(iXu) = m_velocity(iXu); + } else if (!timestamp.reiterate) { + // new position is forced, no velocity as we cannot interpolate + m_internalPose = m_nextPose; + m_velocity = Twist::Zero(); + m_xudot = e_zero_vector(6); + // recompute the jacobian + updateJacobian(); + } + } +} + +void MovingFrame::pushCache(const Timestamp& timestamp) +{ + if (!timestamp.substep && timestamp.cache) + pushInternalFrame(timestamp.cacheTimestamp); +} + +void MovingFrame::updateKinematics(const Timestamp& timestamp) +{ + if (timestamp.interpolate) { + if (timestamp.substep) { + // during substepping, update the internal pose from velocity information + Twist localvel = m_internalPose.M.Inverse(m_velocity); + m_internalPose.Integrate(localvel, 1.0/timestamp.realTimestep); + } else { + m_internalPose = m_nextPose; + } + // m_internalPose is updated, recompute the jacobian + updateJacobian(); + } + pushCache(timestamp); +} + +void MovingFrame::updateJacobian() +{ + Twist m_jac; + e_matrix& Ju = m_JuArray[0]; + + //Jacobian is always identity at position on the object, + //we ust change the reference to the world. + //instead of going through complicated jacobian operation, implemented direct formula + Ju(1,3) = m_internalPose.p.z(); + Ju(2,3) = -m_internalPose.p.y(); + Ju(0,4) = -m_internalPose.p.z(); + Ju(2,4) = m_internalPose.p.x(); + Ju(0,5) = m_internalPose.p.y(); + Ju(1,5) = -m_internalPose.p.x(); + // remember that this object has moved + m_updated = true; +} + +} diff --git a/intern/itasc/MovingFrame.hpp b/intern/itasc/MovingFrame.hpp new file mode 100644 index 00000000000..edaa3136a13 --- /dev/null +++ b/intern/itasc/MovingFrame.hpp @@ -0,0 +1,48 @@ +/* $Id: MovingFrame.hpp 19907 2009-04-23 13:41:59Z ben2610 $ + * MovingFrame.h + * + * Created on: Feb 10, 2009 + * Author: benoitbolsee + */ + +#ifndef MOVINGFRAME_HPP_ +#define MOVINGFRAME_HPP_ + +#include "UncontrolledObject.hpp" +#include <vector> + + +namespace iTaSC{ + +typedef bool (*MovingFrameCallback)(const Timestamp& timestamp, const Frame& _current, Frame& _next, void *param); + +class MovingFrame: public UncontrolledObject { +public: + MovingFrame(const Frame& frame=F_identity); + virtual ~MovingFrame(); + + bool setFrame(const Frame& frame); + bool setCallback(MovingFrameCallback _function, void* _param); + + virtual void updateCoordinates(const Timestamp& timestamp); + virtual void updateKinematics(const Timestamp& timestamp); + virtual void pushCache(const Timestamp& timestamp); + virtual void initCache(Cache *_cache); + virtual void finalize(); +protected: + virtual void updateJacobian(); + +private: + void pushInternalFrame(CacheTS timestamp); + bool popInternalFrame(CacheTS timestamp); + MovingFrameCallback m_function; + void* m_param; + Frame m_nextPose; + Twist m_velocity; + int m_poseCCh; // cache channel for pose + unsigned int m_poseCTs; +}; + +} + +#endif /* MOVINGFRAME_H_ */ diff --git a/intern/itasc/Object.hpp b/intern/itasc/Object.hpp new file mode 100644 index 00000000000..5c312cab768 --- /dev/null +++ b/intern/itasc/Object.hpp @@ -0,0 +1,48 @@ +/* $Id: Object.hpp 19907 2009-04-23 13:41:59Z ben2610 $ + * Object.hpp + * + * Created on: Jan 5, 2009 + * Author: rubensmits + */ + +#ifndef OBJECT_HPP_ +#define OBJECT_HPP_ + +#include "Cache.hpp" +#include "kdl/frames.hpp" +#include <string> + +namespace iTaSC{ + +class WorldObject; + +class Object { +public: + enum ObjectType {Controlled, UnControlled}; + static WorldObject world; + +private: + ObjectType m_type; +protected: + Cache *m_cache; + KDL::Frame m_internalPose; + bool m_updated; + virtual void updateJacobian()=0; +public: + Object(ObjectType _type):m_type(_type), m_cache(NULL), m_internalPose(F_identity), m_updated(false) {}; + virtual ~Object(){}; + + virtual int addEndEffector(const std::string& name){return 0;}; + virtual void finalize(){}; + virtual const KDL::Frame& getPose(const unsigned int end_effector=0){return m_internalPose;}; + virtual const ObjectType getType(){return m_type;}; + virtual const unsigned int getNrOfCoordinates(){return 0;}; + virtual void updateKinematics(const Timestamp& timestamp)=0; + virtual void pushCache(const Timestamp& timestamp)=0; + virtual void initCache(Cache *_cache) = 0; + bool updated() {return m_updated;}; + void updated(bool val) {m_updated=val;}; +}; + +} +#endif /* OBJECT_HPP_ */ diff --git a/intern/itasc/SConscript b/intern/itasc/SConscript new file mode 100644 index 00000000000..9e11b6c7119 --- /dev/null +++ b/intern/itasc/SConscript @@ -0,0 +1,11 @@ +#!/usr/bin/python +Import ('env') + +sources = env.Glob('*.cpp') +sources += env.Glob('kdl/*.cpp') +sources += env.Glob('kdl/utilities/*.cpp') + +incs = '. ../../extern/Eigen2' + +env.BlenderLib ('bf_ITASC', sources, Split(incs), [], libtype=['intern','player'], priority=[20,100] ) + diff --git a/intern/itasc/Scene.cpp b/intern/itasc/Scene.cpp new file mode 100644 index 00000000000..c50769e9c1d --- /dev/null +++ b/intern/itasc/Scene.cpp @@ -0,0 +1,543 @@ +/* $Id: Scene.cpp 20874 2009-06-14 13:50:34Z ben2610 $ + * Scene.cpp + * + * Created on: Jan 5, 2009 + * Author: rubensmits + */ + +#include "Scene.hpp" +#include "ControlledObject.hpp" +#include "kdl/utilities/svd_eigen_HH.hpp" +#include <cstdio> + +namespace iTaSC { + +class SceneLock : public ControlledObject::JointLockCallback { +private: + Scene* m_scene; + Range m_qrange; + +public: + SceneLock(Scene* scene) : + m_scene(scene), m_qrange(0,0) {} + virtual ~SceneLock() {} + + void setRange(Range& range) + { + m_qrange = range; + } + // lock a joint, no need to update output + virtual void lockJoint(unsigned int q_nr, unsigned int ndof) + { + q_nr += m_qrange.start; + project(m_scene->m_Wq, Range(q_nr, ndof), m_qrange).setZero(); + } + // lock a joint and update output in view of reiteration + virtual void lockJoint(unsigned int q_nr, unsigned int ndof, double* qdot) + { + q_nr += m_qrange.start; + project(m_scene->m_Wq, Range(q_nr, ndof), m_qrange).setZero(); + // update the ouput vector so that the movement of this joint will be + // taken into account and we can put the joint back in its initial position + // which means that the jacobian doesn't need to be changed + for (unsigned int i=0 ;i<ndof ; ++i, ++q_nr) { + m_scene->m_ydot -= m_scene->m_A.col(q_nr)*qdot[i]; + } + } +}; + +Scene::Scene(): + m_A(), m_B(), m_Atemp(), m_Wq(), m_Jf(), m_Jq(), m_Ju(), m_Cf(), m_Cq(), m_Jf_inv(), + m_Vf(),m_Uf(), m_Wy(), m_ydot(), m_qdot(), m_xdot(), m_Sf(),m_tempf(), + m_ncTotal(0),m_nqTotal(0),m_nuTotal(0),m_nsets(0), + m_solver(NULL),m_cache(NULL) +{ + m_minstep = 0.01; + m_maxstep = 0.06; +} + +Scene::~Scene() +{ + ConstraintMap::iterator constraint_it; + while ((constraint_it = constraints.begin()) != constraints.end()) { + delete constraint_it->second; + constraints.erase(constraint_it); + } + ObjectMap::iterator object_it; + while ((object_it = objects.begin()) != objects.end()) { + delete object_it->second; + objects.erase(object_it); + } +} + +bool Scene::setParam(SceneParam paramId, double value) +{ + switch (paramId) { + case MIN_TIMESTEP: + m_minstep = value; + break; + case MAX_TIMESTEP: + m_maxstep = value; + break; + default: + return false; + } + return true; +} + +bool Scene::addObject(const std::string& name, Object* object, UncontrolledObject* base, const std::string& baseFrame) +{ + // finalize the object before adding + object->finalize(); + //Check if Object is controlled or uncontrolled. + if(object->getType()==Object::Controlled){ + int baseFrameIndex = base->addEndEffector(baseFrame); + if (baseFrameIndex < 0) + return false; + std::pair<ObjectMap::iterator, bool> result; + if (base->getNrOfCoordinates() == 0) { + // base is fixed object, no coordinate range + result = objects.insert(ObjectMap::value_type( + name, new Object_struct(object,base,baseFrameIndex, + Range(m_nqTotal,object->getNrOfCoordinates()), + Range(m_ncTotal,((ControlledObject*)object)->getNrOfConstraints()), + Range(0,0)))); + } else { + // base is a moving object, must be in list already + ObjectMap::iterator base_it; + for (base_it=objects.begin(); base_it != objects.end(); base_it++) { + if (base_it->second->object == base) + break; + } + if (base_it == objects.end()) + return false; + result = objects.insert(ObjectMap::value_type( + name, new Object_struct(object,base,baseFrameIndex, + Range(m_nqTotal,object->getNrOfCoordinates()), + Range(m_ncTotal,((ControlledObject*)object)->getNrOfConstraints()), + base_it->second->coordinaterange))); + } + if (!result.second) { + return false; + } + m_nqTotal+=object->getNrOfCoordinates(); + m_ncTotal+=((ControlledObject*)object)->getNrOfConstraints(); + return true; + } + if(object->getType()==Object::UnControlled){ + if ((WorldObject*)base != &Object::world) + return false; + std::pair<ObjectMap::iterator,bool> result = objects.insert(ObjectMap::value_type( + name,new Object_struct(object,base,0, + Range(0,0), + Range(0,0), + Range(m_nuTotal,object->getNrOfCoordinates())))); + if(!result.second) + return false; + m_nuTotal+=object->getNrOfCoordinates(); + return true; + } + return false; +} + +bool Scene::addConstraintSet(const std::string& name,ConstraintSet* task,const std::string& object1,const std::string& object2, const std::string& ee1, const std::string& ee2) +{ + //Check if objects exist: + ObjectMap::iterator object1_it = objects.find(object1); + ObjectMap::iterator object2_it = objects.find(object2); + if(object1_it==objects.end()||object2_it==objects.end()) + return false; + int ee1_index = object1_it->second->object->addEndEffector(ee1); + int ee2_index = object2_it->second->object->addEndEffector(ee2); + if (ee1_index < 0 || ee2_index < 0) + return false; + std::pair<ConstraintMap::iterator,bool> result = + constraints.insert(ConstraintMap::value_type(name,new ConstraintSet_struct( + task,object1_it,ee1_index,object2_it,ee2_index, + Range(m_ncTotal,task->getNrOfConstraints()),Range(6*m_nsets,6)))); + if(!result.second) + return false; + m_ncTotal+=task->getNrOfConstraints(); + m_nsets+=1; + return true; +} + +bool Scene::addSolver(Solver* _solver){ + if(m_solver==NULL){ + m_solver=_solver; + return true; + } + else + return false; +} + +bool Scene::addCache(Cache* _cache){ + if(m_cache==NULL){ + m_cache=_cache; + return true; + } + else + return false; +} + +bool Scene::initialize(){ + + //prepare all matrices: + if (m_ncTotal == 0 || m_nqTotal == 0 || m_nsets == 0) + return false; + + m_A = e_zero_matrix(m_ncTotal,m_nqTotal); + if (m_nuTotal > 0) { + m_B = e_zero_matrix(m_ncTotal,m_nuTotal); + m_xdot = e_zero_vector(m_nuTotal); + m_Ju = e_zero_matrix(6*m_nsets,m_nuTotal); + } + m_Atemp = e_zero_matrix(m_ncTotal,6*m_nsets); + m_ydot = e_zero_vector(m_ncTotal); + m_qdot = e_zero_vector(m_nqTotal); + m_Wq = e_zero_matrix(m_nqTotal,m_nqTotal); + m_Wy = e_zero_vector(m_ncTotal); + m_Jq = e_zero_matrix(6*m_nsets,m_nqTotal); + m_Jf = e_zero_matrix(6*m_nsets,6*m_nsets); + m_Jf_inv = m_Jf; + m_Cf = e_zero_matrix(m_ncTotal,m_Jf.rows()); + m_Cq = e_zero_matrix(m_ncTotal,m_nqTotal); + + bool result=true; + // finalize all objects + for (ObjectMap::iterator it=objects.begin(); it!=objects.end(); ++it) { + Object_struct* os = it->second; + + os->object->initCache(m_cache); + if (os->constraintrange.count > 0) + project(m_Cq,os->constraintrange,os->jointrange) = (((ControlledObject*)(os->object))->getCq()); + } + + m_ytask.resize(m_ncTotal); + bool toggle=true; + int cnt = 0; + //Initialize all ConstraintSets: + for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){ + //Calculate the external pose: + ConstraintSet_struct* cs = it->second; + Frame external_pose; + getConstraintPose(cs->task, cs, external_pose); + result&=cs->task->initialise(external_pose); + cs->task->initCache(m_cache); + for (int i=0; i<cs->constraintrange.count; i++, cnt++) { + m_ytask[cnt] = toggle; + } + toggle = !toggle; + project(m_Cf,cs->constraintrange,cs->featurerange)=cs->task->getCf(); + } + + if(m_solver!=NULL) + m_solver->init(m_nqTotal,m_ncTotal,m_ytask); + else + return false; + + + return result; +} + +bool Scene::getConstraintPose(ConstraintSet* constraint, void *_param, KDL::Frame& _pose) +{ + // function called from constraint when they need to get the external pose + ConstraintSet_struct* cs = (ConstraintSet_struct*)_param; + // verification, the pointer MUST match + assert (constraint == cs->task); + Object_struct* ob1 = cs->object1->second; + Object_struct* ob2 = cs->object2->second; + //Calculate the external pose: + _pose=(ob1->base->getPose(ob1->baseFrameIndex)*ob1->object->getPose(cs->ee1index)).Inverse()*(ob2->base->getPose(ob2->baseFrameIndex)*ob2->object->getPose(cs->ee2index)); + return true; +} + +bool Scene::update(double timestamp, double timestep, unsigned int numsubstep, bool reiterate, bool cache, bool interpolate) +{ + // we must have valid timestep and timestamp + if (timestamp < KDL::epsilon || timestep < 0.0) + return false; + Timestamp ts; + ts.realTimestamp = timestamp; + // initially we start with the full timestep to allow velocity estimation over the full interval + ts.realTimestep = timestep; + setCacheTimestamp(ts); + ts.substep = 0; + // for reiteration don't load cache + // reiteration=additional iteration with same timestamp if application finds the convergence not good enough + ts.reiterate = (reiterate) ? 1 : 0; + ts.interpolate = (interpolate) ? 1 : 0; + ts.cache = (cache) ? 1 : 0; + ts.update = 1; + ts.numstep = (numsubstep & 0xFF); + bool autosubstep = (numsubstep == 0) ? true : false; + if (numsubstep < 1) + numsubstep = 1; + double timesubstep = timestep/numsubstep; + double timeleft = timestep; + + if (timeleft == 0.0) { + // this special case correspond to a request to cache data + for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it){ + it->second->object->pushCache(ts); + } + //Update the Constraints + for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){ + it->second->task->pushCache(ts); + } + return true; + } + + double maxqdot; + e_scalar nlcoef; + SceneLock lockCallback(this); + Frame external_pose; + bool locked; + + // initially we keep timestep unchanged so that update function compute the velocity over + while (numsubstep > 0) { + // get objects + for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it) { + Object_struct* os = it->second; + if (os->object->getType()==Object::Controlled) { + ((ControlledObject*)(os->object))->updateControlOutput(ts); + if (os->constraintrange.count > 0) { + project(m_ydot, os->constraintrange) = ((ControlledObject*)(os->object))->getControlOutput(); + project(m_Wy, os->constraintrange) = ((ControlledObject*)(os->object))->getWy(); + // project(m_Cq,os->constraintrange,os->jointrange) = (((ControlledObject*)(os->object))->getCq()); + } + if (os->jointrange.count > 0) { + project(m_Wq,os->jointrange,os->jointrange) = ((ControlledObject*)(os->object))->getWq(); + } + } + if (os->object->getType()==Object::UnControlled && ((UncontrolledObject*)os->object)->getNrOfCoordinates() != 0) { + ((UncontrolledObject*)(os->object))->updateCoordinates(ts); + if (!ts.substep) { + // velocity of uncontrolled object remains constant during substepping + project(m_xdot,os->coordinaterange) = ((UncontrolledObject*)(os->object))->getXudot(); + } + } + } + + //get new Constraints values + for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it) { + ConstraintSet_struct* cs = it->second; + Object_struct* ob1 = cs->object1->second; + Object_struct* ob2 = cs->object2->second; + + if (ob1->base->updated() || ob1->object->updated() || ob2->base->updated() || ob2->object->updated()) { + // the object from which the constraint depends have changed position + // recompute the constraint pose + getConstraintPose(cs->task, cs, external_pose); + cs->task->initialise(external_pose); + } + cs->task->updateControlOutput(ts); + project(m_ydot,cs->constraintrange)=cs->task->getControlOutput(); + if (!ts.substep || cs->task->substep()) { + project(m_Wy,cs->constraintrange)=(cs->task)->getWy(); + //project(m_Cf,cs->constraintrange,cs->featurerange)=cs->task->getCf(); + } + + project(m_Jf,cs->featurerange,cs->featurerange)=cs->task->getJf(); + //std::cout << "Jf = " << Jf << std::endl; + //Transform the reference frame of this jacobian to the world reference frame + Eigen::Block<e_matrix> Jf_part = project(m_Jf,cs->featurerange,cs->featurerange); + changeBase(Jf_part,ob1->base->getPose(ob1->baseFrameIndex)*ob1->object->getPose(cs->ee1index)); + //std::cout << "Jf_w = " << Jf << std::endl; + + //calculate the inverse of Jf + KDL::svd_eigen_HH(project(m_Jf,cs->featurerange,cs->featurerange),m_Uf,m_Sf,m_Vf,m_tempf); + for(unsigned int i=0;i<6;++i) + if(m_Sf(i)<KDL::epsilon) + m_Uf.col(i).setConstant(0.0); + else + m_Uf.col(i)*=(1/m_Sf(i)); + project(m_Jf_inv,cs->featurerange,cs->featurerange)=(m_Vf*m_Uf.transpose()).lazy(); + + //Get the robotjacobian associated with this constraintset + //Each jacobian is expressed in robot base frame => convert to world reference + //and negate second robot because it is taken reversed when closing the loop: + if(ob1->object->getType()==Object::Controlled){ + project(m_Jq,cs->featurerange,ob1->jointrange) = (((ControlledObject*)(ob1->object))->getJq(cs->ee1index)); + //Transform the reference frame of this jacobian to the world reference frame: + Eigen::Block<e_matrix> Jq_part = project(m_Jq,cs->featurerange,ob1->jointrange); + changeBase(Jq_part,ob1->base->getPose(ob1->baseFrameIndex)); + // if the base of this object is moving, get the Ju part + if (ob1->base->getNrOfCoordinates() != 0) { + // Ju is already computed for world reference frame + project(m_Ju,cs->featurerange,ob1->coordinaterange)=ob1->base->getJu(ob1->baseFrameIndex); + } + } else if (ob1->object->getType() == Object::UnControlled && ((UncontrolledObject*)ob1->object)->getNrOfCoordinates() != 0) { + // object1 is uncontrolled moving object + project(m_Ju,cs->featurerange,ob1->coordinaterange)=((UncontrolledObject*)ob1->object)->getJu(cs->ee1index); + } + if(ob2->object->getType()==Object::Controlled){ + //Get the robotjacobian associated with this constraintset + // process a special case where object2 and object1 are equal but using different end effector + if (ob1->object == ob2->object) { + // we must create a temporary matrix + e_matrix JqTemp(((ControlledObject*)(ob2->object))->getJq(cs->ee2index)); + //Transform the reference frame of this jacobian to the world reference frame: + changeBase(JqTemp,ob2->base->getPose(ob2->baseFrameIndex)); + // substract in place + project(m_Jq,cs->featurerange,ob2->jointrange) -= JqTemp; + } else { + project(m_Jq,cs->featurerange,ob2->jointrange) = -(((ControlledObject*)(ob2->object))->getJq(cs->ee2index)); + //Transform the reference frame of this jacobian to the world reference frame: + Eigen::Block<e_matrix> Jq_part = project(m_Jq,cs->featurerange,ob2->jointrange); + changeBase(Jq_part,ob2->base->getPose(ob2->baseFrameIndex)); + } + if (ob2->base->getNrOfCoordinates() != 0) { + // if base is the same as first object or first object base, + // that portion of m_Ju has been set already => substract inplace + if (ob2->base == ob1->base || ob2->base == ob1->object) { + project(m_Ju,cs->featurerange,ob2->coordinaterange) -= ob2->base->getJu(ob2->baseFrameIndex); + } else { + project(m_Ju,cs->featurerange,ob2->coordinaterange) = -ob2->base->getJu(ob2->baseFrameIndex); + } + } + } else if (ob2->object->getType() == Object::UnControlled && ((UncontrolledObject*)ob2->object)->getNrOfCoordinates() != 0) { + if (ob2->object == ob1->base || ob2->object == ob1->object) { + project(m_Ju,cs->featurerange,ob2->coordinaterange) -= ((UncontrolledObject*)ob2->object)->getJu(cs->ee2index); + } else { + project(m_Ju,cs->featurerange,ob2->coordinaterange) = -((UncontrolledObject*)ob2->object)->getJu(cs->ee2index); + } + } + } + + //Calculate A + m_Atemp=(m_Cf*m_Jf_inv).lazy(); + m_A = m_Cq-(m_Atemp*m_Jq).lazy(); + if (m_nuTotal > 0) { + m_B=(m_Atemp*m_Ju).lazy(); + m_ydot += (m_B*m_xdot).lazy(); + } + + //Call the solver with A, Wq, Wy, ydot to solver qdot: + if(!m_solver->solve(m_A,m_Wy,m_ydot,m_Wq,m_qdot,nlcoef)) + // this should never happen + return false; + //send result to the objects + for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it) { + Object_struct* os = it->second; + if(os->object->getType()==Object::Controlled) + ((ControlledObject*)(os->object))->setJointVelocity(project(m_qdot,os->jointrange)); + } + // compute the constraint velocity + for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){ + ConstraintSet_struct* cs = it->second; + Object_struct* ob1 = cs->object1->second; + Object_struct* ob2 = cs->object2->second; + //Calculate the twist of the world reference frame due to the robots (Jq*qdot+Ju*chiudot): + e_vector6 external_vel = e_zero_vector(6); + if (ob1->jointrange.count > 0) + external_vel += (project(m_Jq,cs->featurerange,ob1->jointrange)*project(m_qdot,ob1->jointrange)).lazy(); + if (ob2->jointrange.count > 0) + external_vel += (project(m_Jq,cs->featurerange,ob2->jointrange)*project(m_qdot,ob2->jointrange)).lazy(); + if (ob1->coordinaterange.count > 0) + external_vel += (project(m_Ju,cs->featurerange,ob1->coordinaterange)*project(m_xdot,ob1->coordinaterange)).lazy(); + if (ob2->coordinaterange.count > 0) + external_vel += (project(m_Ju,cs->featurerange,ob2->coordinaterange)*project(m_xdot,ob2->coordinaterange)).lazy(); + //the twist caused by the constraint must be opposite because of the closed loop + //estimate the velocity of the joints using the inverse jacobian + e_vector6 estimated_chidot = project(m_Jf_inv,cs->featurerange,cs->featurerange)*(-external_vel); + cs->task->setJointVelocity(estimated_chidot); + } + + if (autosubstep) { + // automatic computing of substep based on maximum joint change + // and joint limit gain variation + // We will pass the joint velocity to each object and they will recommend a maximum timestep + timesubstep = timeleft; + // get armature max joint velocity to estimate the maximum duration of integration + maxqdot = m_qdot.cwise().abs().maxCoeff(); + double maxsubstep = nlcoef*m_maxstep; + if (maxsubstep < m_minstep) + maxsubstep = m_minstep; + if (timesubstep > maxsubstep) + timesubstep = maxsubstep; + for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it){ + Object_struct* os = it->second; + if(os->object->getType()==Object::Controlled) + ((ControlledObject*)(os->object))->getMaxTimestep(timesubstep); + } + for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){ + ConstraintSet_struct* cs = it->second; + cs->task->getMaxTimestep(timesubstep); + } + // use substep that are even dividers of timestep for more regularity + maxsubstep = 2.0*floor(timestep/2.0/timesubstep-0.66666); + timesubstep = (maxsubstep < 0.0) ? timestep : timestep/(2.0+maxsubstep); + if (timesubstep >= timeleft-(m_minstep/2.0)) { + timesubstep = timeleft; + numsubstep = 1; + timeleft = 0.; + } else { + numsubstep = 2; + timeleft -= timesubstep; + } + } + if (numsubstep > 1) { + ts.substep = 1; + } else { + // set substep to false for last iteration so that controlled output + // can be updated in updateKinematics() and model_update)() before next call to Secne::update() + ts.substep = 0; + } + // change timestep so that integration is done correctly + ts.realTimestep = timesubstep; + + do { + ObjectMap::iterator it; + Object_struct* os; + locked = false; + for(it=objects.begin();it!=objects.end();++it){ + os = it->second; + if (os->object->getType()==Object::Controlled) { + lockCallback.setRange(os->jointrange); + if (((ControlledObject*)os->object)->updateJoint(ts, lockCallback)) { + // this means one of the joint was locked and we must rerun + // the solver to update the remaining joints + locked = true; + break; + } + } + } + if (locked) { + // Some rows of m_Wq have been cleared so that the corresponding joint will not move + if(!m_solver->solve(m_A,m_Wy,m_ydot,m_Wq,m_qdot,nlcoef)) + // this should never happen + return false; + + //send result to the objects + for(it=objects.begin();it!=objects.end();++it) { + os = it->second; + if(os->object->getType()==Object::Controlled) + ((ControlledObject*)(os->object))->setJointVelocity(project(m_qdot,os->jointrange)); + } + } + } while (locked); + + //Update the Objects + for(ObjectMap::iterator it=objects.begin();it!=objects.end();++it){ + it->second->object->updateKinematics(ts); + // mark this object not updated since the constraint will be updated anyway + // this flag is only useful to detect external updates + it->second->object->updated(false); + } + //Update the Constraints + for(ConstraintMap::iterator it=constraints.begin();it!=constraints.end();++it){ + ConstraintSet_struct* cs = it->second; + //Calculate the external pose: + getConstraintPose(cs->task, cs, external_pose); + cs->task->modelUpdate(external_pose,ts); + // update the constraint output and cache + cs->task->updateKinematics(ts); + } + numsubstep--; + } + return true; +} + +} diff --git a/intern/itasc/Scene.hpp b/intern/itasc/Scene.hpp new file mode 100644 index 00000000000..a2d63361d95 --- /dev/null +++ b/intern/itasc/Scene.hpp @@ -0,0 +1,104 @@ +/* $Id: Scene.hpp 20622 2009-06-04 12:47:59Z ben2610 $ + * Scene.hpp + * + * Created on: Jan 5, 2009 + * Author: rubensmits + */ + +#ifndef SCENE_HPP_ +#define SCENE_HPP_ + +#include "eigen_types.hpp" + +#include "WorldObject.hpp" +#include "ConstraintSet.hpp" +#include "Solver.hpp" + +#include <map> + +namespace iTaSC { + +class SceneLock; + +class Scene { + friend class SceneLock; +public: + enum SceneParam { + MIN_TIMESTEP = 0, + MAX_TIMESTEP, + + COUNT + }; + + + Scene(); + virtual ~Scene(); + + bool addObject(const std::string& name, Object* object, UncontrolledObject* base=&Object::world, const std::string& baseFrame=""); + bool addConstraintSet(const std::string& name, ConstraintSet* task,const std::string& object1,const std::string& object2,const std::string& ee1="",const std::string& ee2=""); + bool addSolver(Solver* _solver); + bool addCache(Cache* _cache); + bool initialize(); + bool update(double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true); + bool setParam(SceneParam paramId, double value); + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW + +private: + e_matrix m_A,m_B,m_Atemp,m_Wq,m_Jf,m_Jq,m_Ju,m_Cf,m_Cq,m_Jf_inv; + e_matrix6 m_Vf,m_Uf; + e_vector m_Wy,m_ydot,m_qdot,m_xdot; + e_vector6 m_Sf,m_tempf; + double m_minstep; + double m_maxstep; + unsigned int m_ncTotal,m_nqTotal,m_nuTotal,m_nsets; + std::vector<bool> m_ytask; + + Solver* m_solver; + Cache* m_cache; + + + struct Object_struct{ + Object* object; + UncontrolledObject* base; + unsigned int baseFrameIndex; + Range constraintrange; + Range jointrange; + Range coordinaterange; // Xu range of base when object is controlled + // Xu range of object when object is uncontrolled + + Object_struct(Object* _object,UncontrolledObject* _base,unsigned int _baseFrameIndex,Range nq_range,Range nc_range,Range nu_range): + object(_object),base(_base),baseFrameIndex(_baseFrameIndex),constraintrange(nc_range),jointrange(nq_range),coordinaterange(nu_range) + {}; + }; + typedef std::map<std::string,Object_struct*> ObjectMap; + + struct ConstraintSet_struct{ + ConstraintSet* task; + ObjectMap::iterator object1; + ObjectMap::iterator object2; + Range constraintrange; + Range featurerange; + unsigned int ee1index; + unsigned int ee2index; + ConstraintSet_struct(ConstraintSet* _task, + ObjectMap::iterator _object1,unsigned int _ee1index, + ObjectMap::iterator _object2,unsigned int _ee2index, + Range nc_range,Range coord_range): + task(_task), + object1(_object1),object2(_object2), + constraintrange(nc_range),featurerange(coord_range), + ee1index(_ee1index), ee2index(_ee2index) + {}; + }; + typedef std::map<std::string,ConstraintSet_struct*> ConstraintMap; + + ObjectMap objects; + ConstraintMap constraints; + + static bool getConstraintPose(ConstraintSet* constraint, void *_param, KDL::Frame& _pose); +}; + +} + +#endif /* SCENE_HPP_ */ diff --git a/intern/itasc/Solver.hpp b/intern/itasc/Solver.hpp new file mode 100644 index 00000000000..e3aa1e1abc8 --- /dev/null +++ b/intern/itasc/Solver.hpp @@ -0,0 +1,33 @@ +/* $Id: Solver.hpp 20622 2009-06-04 12:47:59Z ben2610 $ + * Solver.hpp + * + * Created on: Jan 8, 2009 + * Author: rubensmits + */ + +#ifndef SOLVER_HPP_ +#define SOLVER_HPP_ + +#include <vector> +#include "eigen_types.hpp" + +namespace iTaSC{ + +class Solver{ +public: + enum SolverParam { + DLS_QMAX = 0, + DLS_LAMBDA_MAX, + DLS_EPSILON + }; + virtual ~Solver(){}; + + // gc = grouping of constraint output , + // size of vector = nc, alternance of true / false to indicate the grouping of output + virtual bool init(unsigned int nq, unsigned int nc, const std::vector<bool>& gc)=0; + virtual bool solve(const e_matrix& A, const e_vector& Wy, const e_vector& ydot, const e_matrix& Wq, e_vector& qdot, e_scalar& nlcoef)=0; + virtual void setParam(SolverParam param, double value)=0; +}; + +} +#endif /* SOLVER_HPP_ */ diff --git a/intern/itasc/UncontrolledObject.cpp b/intern/itasc/UncontrolledObject.cpp new file mode 100644 index 00000000000..e05a8682d20 --- /dev/null +++ b/intern/itasc/UncontrolledObject.cpp @@ -0,0 +1,43 @@ +/* $Id: UncontrolledObject.cpp 19907 2009-04-23 13:41:59Z ben2610 $ + * UncontrolledObject.cpp + * + * Created on: Jan 5, 2009 + * Author: rubensmits + */ + +#include "UncontrolledObject.hpp" + +namespace iTaSC{ + +UncontrolledObject::UncontrolledObject():Object(UnControlled), + m_nu(0), m_nf(0), m_xudot() +{ +} + +UncontrolledObject::~UncontrolledObject() +{ +} + +void UncontrolledObject::initialize(unsigned int _nu, unsigned int _nf) +{ + assert (_nf >= 1); + m_nu = _nu; + m_nf = _nf; + if (_nu > 0) + m_xudot = e_zero_vector(_nu); + // clear all Jacobian if any + m_JuArray.clear(); + // reserve one more to have an zero matrix handy + if (m_nu > 0) + m_JuArray.resize(m_nf+1, e_zero_matrix(6,m_nu)); +} + +const e_matrix& UncontrolledObject::getJu(unsigned int frameIndex) const +{ + assert (m_nu > 0); + return m_JuArray[(frameIndex>m_nf)?m_nf:frameIndex]; +} + + + +} diff --git a/intern/itasc/UncontrolledObject.hpp b/intern/itasc/UncontrolledObject.hpp new file mode 100644 index 00000000000..3b693a0b2ed --- /dev/null +++ b/intern/itasc/UncontrolledObject.hpp @@ -0,0 +1,37 @@ +/* $Id: UncontrolledObject.hpp 19907 2009-04-23 13:41:59Z ben2610 $ + * UncontrolledObject.h + * + * Created on: Jan 5, 2009 + * Author: rubensmits + */ + +#ifndef UNCONTROLLEDOBJECT_HPP_ +#define UNCONTROLLEDOBJECT_HPP_ + +#include "eigen_types.hpp" + +#include "Object.hpp" +namespace iTaSC{ + +class UncontrolledObject: public Object { +protected: + unsigned int m_nu, m_nf; + e_vector m_xudot; + std::vector<e_matrix> m_JuArray; + +public: + UncontrolledObject(); + virtual ~UncontrolledObject(); + + virtual void initialize(unsigned int _nu, unsigned int _nf); + virtual const e_matrix& getJu(unsigned int frameIndex) const; + virtual const e_vector& getXudot() const {return m_xudot;} + virtual void updateCoordinates(const Timestamp& timestamp)=0; + virtual const unsigned int getNrOfCoordinates(){return m_nu;}; + virtual const unsigned int getNrOfFrames(){return m_nf;}; + +}; + +} + +#endif /* UNCONTROLLEDOBJECT_H_ */ diff --git a/intern/itasc/WDLSSolver.cpp b/intern/itasc/WDLSSolver.cpp new file mode 100644 index 00000000000..91278c7ad3b --- /dev/null +++ b/intern/itasc/WDLSSolver.cpp @@ -0,0 +1,85 @@ +/* $Id: WDLSSolver.cpp 20749 2009-06-09 11:27:30Z ben2610 $ + * WDLSSolver.hpp.cpp + * + * Created on: Jan 8, 2009 + * Author: rubensmits + */ + +#include "WDLSSolver.hpp" +#include "kdl/utilities/svd_eigen_HH.hpp" + +namespace iTaSC { + +WDLSSolver::WDLSSolver() : m_lambda(0.5), m_epsilon(0.1) +{ + // maximum joint velocity + m_qmax = 50.0; +} + +WDLSSolver::~WDLSSolver() { +} + +bool WDLSSolver::init(unsigned int nq, unsigned int nc, const std::vector<bool>& gc) +{ + m_ns = std::min(nc,nq); + m_AWq = e_zero_matrix(nc,nq); + m_WyAWq = e_zero_matrix(nc,nq); + m_U = e_zero_matrix(nc,nq); + m_S = e_zero_vector(std::max(nc,nq)); + m_temp = e_zero_vector(nq); + m_V = e_zero_matrix(nq,nq); + m_WqV = e_zero_matrix(nq,nq); + m_Wy_ydot = e_zero_vector(nc); + return true; +} + +bool WDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& ydot, const e_matrix& Wq, e_vector& qdot, e_scalar& nlcoef) +{ + double alpha, vmax, norm; + // Create the Weighted jacobian + m_AWq = A*Wq; + for (int i=0; i<Wy.size(); i++) + m_WyAWq.row(i) = Wy(i)*m_AWq.row(i); + + // Compute the SVD of the weighted jacobian + int ret = KDL::svd_eigen_HH(m_WyAWq,m_U,m_S,m_V,m_temp); + if(ret<0) + return false; + + m_WqV = (Wq*m_V).lazy(); + + //Wy*ydot + m_Wy_ydot = Wy.cwise() * ydot; + //S^-1*U'*Wy*ydot + e_scalar maxDeltaS = e_scalar(0.0); + e_scalar prevS = e_scalar(0.0); + e_scalar maxS = e_scalar(1.0); + e_scalar S, lambda; + qdot.setZero(); + for(int i=0;i<m_ns;++i) { + S = m_S(i); + if (S <= KDL::epsilon) + break; + if (i > 0 && (prevS-S) > maxDeltaS) { + maxDeltaS = (prevS-S); + maxS = prevS; + } + lambda = (S < m_epsilon) ? (e_scalar(1.0)-KDL::sqr(S/m_epsilon))*m_lambda*m_lambda : e_scalar(0.0); + alpha = m_U.col(i).dot(m_Wy_ydot)*S/(S*S+lambda); + vmax = m_WqV.col(i).cwise().abs().maxCoeff(); + norm = fabs(alpha*vmax); + if (norm > m_qmax) { + qdot += m_WqV.col(i)*(alpha*m_qmax/norm); + } else { + qdot += m_WqV.col(i)*alpha; + } + prevS = S; + } + if (maxDeltaS == e_scalar(0.0)) + nlcoef = e_scalar(KDL::epsilon); + else + nlcoef = (maxS-maxDeltaS)/maxS; + return true; +} + +} diff --git a/intern/itasc/WDLSSolver.hpp b/intern/itasc/WDLSSolver.hpp new file mode 100644 index 00000000000..4418e73675c --- /dev/null +++ b/intern/itasc/WDLSSolver.hpp @@ -0,0 +1,47 @@ +/* $Id: WDLSSolver.hpp 20622 2009-06-04 12:47:59Z ben2610 $ + * WDLSSolver.hpp + * + * Created on: Jan 8, 2009 + * Author: rubensmits + */ + +#ifndef WDLSSOLVER_HPP_ +#define WDLSSOLVER_HPP_ + +#include "Solver.hpp" + +namespace iTaSC { + +class WDLSSolver: public iTaSC::Solver { +private: + e_matrix m_AWq,m_WyAWq,m_U,m_V,m_WqV; + e_vector m_S,m_temp,m_Wy_ydot; + double m_lambda; + double m_epsilon; + double m_qmax; + int m_ns; +public: + WDLSSolver(); + virtual ~WDLSSolver(); + + virtual bool init(unsigned int nq, unsigned int nc, const std::vector<bool>& gc); + virtual bool solve(const e_matrix& A, const e_vector& Wy, const e_vector& ydot, const e_matrix& Wq, e_vector& qdot, e_scalar& nlcoef); + virtual void setParam(SolverParam param, double value) + { + switch (param) { + case DLS_QMAX: + m_qmax = value; + break; + case DLS_LAMBDA_MAX: + m_lambda = value; + break; + case DLS_EPSILON: + m_epsilon = value; + break; + } + } +}; + +} + +#endif /* WDLSSOLVER_HPP_ */ diff --git a/intern/itasc/WSDLSSolver.cpp b/intern/itasc/WSDLSSolver.cpp new file mode 100644 index 00000000000..1f99ad08334 --- /dev/null +++ b/intern/itasc/WSDLSSolver.cpp @@ -0,0 +1,122 @@ +/* $Id: WSDLSSolver.cpp 20749 2009-06-09 11:27:30Z ben2610 $ + * WDLSSolver.hpp.cpp + * + * Created on: Jan 8, 2009 + * Author: rubensmits + */ + +#include "WSDLSSolver.hpp" +#include "kdl/utilities/svd_eigen_HH.hpp" +#include <cstdio> + +namespace iTaSC { + +WSDLSSolver::WSDLSSolver() : + m_ns(0), m_nc(0), m_nq(0) + +{ + // default maximum speed: 50 rad/s + m_qmax = 50.0; +} + +WSDLSSolver::~WSDLSSolver() { +} + +bool WSDLSSolver::init(unsigned int _nq, unsigned int _nc, const std::vector<bool>& gc) +{ + if (_nc == 0 || _nq == 0 || gc.size() != _nc) + return false; + m_nc = _nc; + m_nq = _nq; + m_ns = std::min(m_nc,m_nq); + m_AWq = e_zero_matrix(m_nc,m_nq); + m_WyAWq = e_zero_matrix(m_nc,m_nq); + m_U = e_zero_matrix(m_nc,m_nq); + m_S = e_zero_vector(std::max(m_nc,m_nq)); + m_temp = e_zero_vector(m_nq); + m_V = e_zero_matrix(m_nq,m_nq); + m_WqV = e_zero_matrix(m_nq,m_nq); + m_Wy_ydot = e_zero_vector(m_nc); + m_ytask = gc; + return true; +} + +bool WSDLSSolver::solve(const e_matrix& A, const e_vector& Wy, const e_vector& ydot, const e_matrix& Wq, e_vector& qdot, e_scalar& nlcoef) +{ + unsigned int i, j, l; + e_scalar N, M; + + // Create the Weighted jacobian + m_AWq = (A*Wq).lazy(); + for (i=0; i<m_nc; i++) + m_WyAWq.row(i) = Wy(i)*m_AWq.row(i); + + // Compute the SVD of the weighted jacobian + int ret = KDL::svd_eigen_HH(m_WyAWq,m_U,m_S,m_V,m_temp); + if(ret<0) + return false; + + m_Wy_ydot = Wy.cwise() * ydot; + m_WqV = (Wq*m_V).lazy(); + qdot.setZero(); + e_scalar maxDeltaS = e_scalar(0.0); + e_scalar prevS = e_scalar(0.0); + e_scalar maxS = e_scalar(1.0); + for(i=0;i<m_ns;++i) { + e_scalar norm, mag, alpha, _qmax, Sinv, vmax, damp; + e_scalar S = m_S(i); + bool prev; + if (S < KDL::epsilon) + break; + Sinv = e_scalar(1.)/S; + if (i > 0) { + if ((prevS-S) > maxDeltaS) { + maxDeltaS = (prevS-S); + maxS = prevS; + } + } + N = M = e_scalar(0.); + for (l=0, prev=m_ytask[0], norm=e_scalar(0.); l<m_nc; l++) { + if (prev == m_ytask[l]) { + norm += m_U(l,i)*m_U(l,i); + } else { + N += std::sqrt(norm); + norm = m_U(l,i)*m_U(l,i); + } + prev = m_ytask[l]; + } + N += std::sqrt(norm); + for (j=0; j<m_nq; j++) { + for (l=0, prev=m_ytask[0], norm=e_scalar(0.), mag=e_scalar(0.); l<m_nc; l++) { + if (prev == m_ytask[l]) { + norm += m_WyAWq(l,j)*m_WyAWq(l,j); + } else { + mag += std::sqrt(norm); + norm = m_WyAWq(l,j)*m_WyAWq(l,j); + } + prev = m_ytask[l]; + } + mag += std::sqrt(norm); + M += fabs(m_V(j,i))*mag; + } + M *= Sinv; + alpha = m_U.col(i).dot(m_Wy_ydot); + _qmax = (N < M) ? m_qmax*N/M : m_qmax; + vmax = m_WqV.col(i).cwise().abs().maxCoeff(); + norm = fabs(Sinv*alpha*vmax); + if (norm > _qmax) { + damp = Sinv*alpha*_qmax/norm; + } else { + damp = Sinv*alpha; + } + qdot += m_WqV.col(i)*damp; + prevS = S; + } + if (maxDeltaS == e_scalar(0.0)) + nlcoef = e_scalar(KDL::epsilon); + else + nlcoef = (maxS-maxDeltaS)/maxS; + return true; +} + +} diff --git a/intern/itasc/WSDLSSolver.hpp b/intern/itasc/WSDLSSolver.hpp new file mode 100644 index 00000000000..90f89f4e853 --- /dev/null +++ b/intern/itasc/WSDLSSolver.hpp @@ -0,0 +1,40 @@ +/* $Id: WSDLSSolver.hpp 20622 2009-06-04 12:47:59Z ben2610 $ + * WSDLSSolver.hpp + * + * Created on: Mar 26, 2009 + * Author: benoit bolsee + */ + +#ifndef WSDLSSOLVER_HPP_ +#define WSDLSSOLVER_HPP_ + +#include "Solver.hpp" + +namespace iTaSC { + +class WSDLSSolver: public iTaSC::Solver { +private: + e_matrix m_AWq,m_WyAWq,m_U,m_V,m_WqV; + e_vector m_S,m_temp,m_Wy_ydot; + std::vector<bool> m_ytask; + e_scalar m_qmax; + unsigned int m_ns, m_nc, m_nq; +public: + WSDLSSolver(); + virtual ~WSDLSSolver(); + + virtual bool init(unsigned int _nq, unsigned int _nc, const std::vector<bool>& gc); + virtual bool solve(const e_matrix& A, const e_vector& Wy, const e_vector& ydot, const e_matrix& Wq, e_vector& qdot, e_scalar& nlcoef); + virtual void setParam(SolverParam param, double value) + { + switch (param) { + case DLS_QMAX: + m_qmax = value; + break; + } + } +}; + +} + +#endif /* WSDLSSOLVER_HPP_ */ diff --git a/intern/itasc/WorldObject.cpp b/intern/itasc/WorldObject.cpp new file mode 100644 index 00000000000..ba3f8549f06 --- /dev/null +++ b/intern/itasc/WorldObject.cpp @@ -0,0 +1,26 @@ +/* $Id: WorldObject.cpp 19907 2009-04-23 13:41:59Z ben2610 $ + * WorldObject.cpp + * + * Created on: Feb 10, 2009 + * Author: benoitbolsee + */ + +#include "WorldObject.hpp" + +namespace iTaSC{ + +/* special singleton to be used as base for uncontrolled object */ +WorldObject Object::world; + +WorldObject::WorldObject():UncontrolledObject() +{ + initialize(0,1); + m_internalPose = Frame::Identity(); +} + +WorldObject::~WorldObject() +{ +} + + +} diff --git a/intern/itasc/WorldObject.hpp b/intern/itasc/WorldObject.hpp new file mode 100644 index 00000000000..b309545a843 --- /dev/null +++ b/intern/itasc/WorldObject.hpp @@ -0,0 +1,30 @@ +/* $Id: WorldObject.hpp 19907 2009-04-23 13:41:59Z ben2610 $ + * WorldObject.h + * + * Created on: Feb 10, 2009 + * Author: benoitbolsee + */ + +#ifndef WORLDOBJECT_HPP_ +#define WORLDOBJECT_HPP_ + +#include "UncontrolledObject.hpp" +namespace iTaSC{ + +class WorldObject: public UncontrolledObject { +public: + WorldObject(); + virtual ~WorldObject(); + + virtual void updateCoordinates(const Timestamp& timestamp) {}; + virtual void updateKinematics(const Timestamp& timestamp) {}; + virtual void pushCache(const Timestamp& timestamp) {}; + virtual void initCache(Cache *_cache) {}; +protected: + virtual void updateJacobian() {} + +}; + +} + +#endif /* WORLDOBJECT_H_ */ diff --git a/intern/itasc/eigen_types.cpp b/intern/itasc/eigen_types.cpp new file mode 100644 index 00000000000..a1b28e01210 --- /dev/null +++ b/intern/itasc/eigen_types.cpp @@ -0,0 +1,12 @@ +/* $Id: eigen_types.cpp 19905 2009-04-23 13:29:54Z ben2610 $ + * eigen_types.cpp + * + * Created on: March 19, 2009 + * Author: benoit bolsee + */ + +#include "eigen_types.hpp" + +const KDL::Frame iTaSC::F_identity(Rotation::Identity(),Vector::Zero()); + + diff --git a/intern/itasc/eigen_types.hpp b/intern/itasc/eigen_types.hpp new file mode 100644 index 00000000000..fe46f8b6bb3 --- /dev/null +++ b/intern/itasc/eigen_types.hpp @@ -0,0 +1,84 @@ +/* $Id: eigen_types.hpp 19905 2009-04-23 13:29:54Z ben2610 $ + * eigen_types.hpp + * + * Created on: March 6, 2009 + * Author: benoit bolsee + */ + +#ifndef EIGEN_TYPES_HPP_ +#define EIGEN_TYPES_HPP_ + +#include <Eigen/Core> +#include "kdl/frames.hpp" +#include "kdl/tree.hpp" +#include "kdl/chain.hpp" +#include "kdl/jacobian.hpp" +#include "kdl/jntarray.hpp" + + +namespace iTaSC{ + +using KDL::Twist; +using KDL::Frame; +using KDL::Joint; +using KDL::Inertia; +using KDL::SegmentMap; +using KDL::Tree; +using KDL::JntArray; +using KDL::Jacobian; +using KDL::Segment; +using KDL::Rotation; +using KDL::Vector; +using KDL::Vector2; +using KDL::Chain; + +extern const Frame F_identity; + +#define e_scalar double +#define e_vector Eigen::Matrix<e_scalar, Eigen::Dynamic, 1> +#define e_zero_vector Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>::Zero +#define e_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic> +#define e_matrix6 Eigen::Matrix<e_scalar,6,6> +#define e_identity_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Identity +#define e_scalar_vector Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>::Constant +#define e_zero_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Zero +#define e_random_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Random +#define e_vector6 Eigen::Matrix<e_scalar,6,1> +#define e_vector3 Eigen::Matrix<e_scalar,3,1> + +class Range { +public: + int start; + int count; + Range(int _start, int _count) { start = _start; count=_count; } + Range(const Range& other) { start=other.start; count=other.count; } +}; + +template<typename MatrixType> inline Eigen::Block<MatrixType> project(MatrixType& m, Range r) +{ + return Eigen::Block<MatrixType>(m,r.start,0,r.count,1); +} + +template<typename MatrixType> inline Eigen::Block<MatrixType> project(MatrixType& m, Range r, Range c) +{ + return Eigen::Block<MatrixType>(m,r.start,c.start,r.count,c.count); +} + +template<typename Derived> inline static int changeBase(Eigen::MatrixBase<Derived>& J, const Frame& T) { + + if (J.rows() != 6) + return -1; + for (int j = 0; j < J.cols(); ++j) { + typename Derived::ColXpr Jj = J.col(j); + Twist arg; + for(unsigned int i=0;i<6;++i) + arg(i)=Jj[i]; + Twist tmp(T*arg); + for(unsigned int i=0;i<6;++i) + Jj[i]=e_scalar(tmp(i)); + } + return 0; +} + +} +#endif /* UBLAS_TYPES_HPP_ */ diff --git a/intern/itasc/kdl/Makefile b/intern/itasc/kdl/Makefile new file mode 100644 index 00000000000..e87795fd3b7 --- /dev/null +++ b/intern/itasc/kdl/Makefile @@ -0,0 +1,42 @@ +# +# $Id: Makefile 19905 2009-04-23 13:29:54Z ben2610 $ +# +# ***** BEGIN GPL LICENSE BLOCK ***** +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 +# of the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software Foundation, +# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. +# All rights reserved. +# +# The Original Code is: all of this file. +# +# Contributor(s): Hans Lambermont +# +# ***** END GPL LICENSE BLOCK ***** +# iksolver main makefile. +# + +LIBNAME = itasc +DIR = $(OCGDIR)/intern/$(LIBNAME) + +include nan_compile.mk + +CPPFLAGS += -I. +CPPFLAGS += -I../../../extern/Eigen2 + +############################## +DIRS = utilities +SOURCEDIR = intern/$(LIBNAME)/kdl +include nan_subdirs.mk diff --git a/intern/itasc/kdl/chain.cpp b/intern/itasc/kdl/chain.cpp new file mode 100644 index 00000000000..638366c96be --- /dev/null +++ b/intern/itasc/kdl/chain.cpp @@ -0,0 +1,75 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "chain.hpp" + +namespace KDL { + using namespace std; + + Chain::Chain(): + segments(0), + nrOfJoints(0), + nrOfSegments(0) + { + } + + Chain::Chain(const Chain& in):nrOfJoints(0), + nrOfSegments(0) + { + for(unsigned int i=0;i<in.getNrOfSegments();i++) + this->addSegment(in.getSegment(i)); + } + + Chain& Chain::operator=(const Chain& arg) + { + nrOfJoints=0; + nrOfSegments=0; + segments.resize(0); + for(unsigned int i=0;i<arg.nrOfSegments;i++) + addSegment(arg.getSegment(i)); + return *this; + + } + + void Chain::addSegment(const Segment& segment) + { + segments.push_back(segment); + nrOfSegments++; + nrOfJoints += segment.getJoint().getNDof(); + } + + void Chain::addChain(const Chain& chain) + { + for(unsigned int i=0;i<chain.getNrOfSegments();i++) + this->addSegment(chain.getSegment(i)); + } + + const Segment& Chain::getSegment(unsigned int nr) const + { + return segments[nr]; + } + + Chain::~Chain() + { + } + +} + diff --git a/intern/itasc/kdl/chain.hpp b/intern/itasc/kdl/chain.hpp new file mode 100644 index 00000000000..0d40690202a --- /dev/null +++ b/intern/itasc/kdl/chain.hpp @@ -0,0 +1,95 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_CHAIN_HPP +#define KDL_CHAIN_HPP + +#include "segment.hpp" +#include <string> + +namespace KDL { + /** + * \brief This class encapsulates a <strong>serial</strong> kinematic + * interconnection structure. It is build out of segments. + * + * @ingroup KinematicFamily + */ + class Chain { + private: + std::vector<Segment> segments; + unsigned int nrOfJoints; + unsigned int nrOfSegments; + public: + /** + * The constructor of a chain, a new chain is always empty. + * + */ + Chain(); + Chain(const Chain& in); + Chain& operator = (const Chain& arg); + + /** + * Adds a new segment to the <strong>end</strong> of the chain. + * + * @param segment The segment to add + */ + void addSegment(const Segment& segment); + /** + * Adds a complete chain to the <strong>end</strong> of the chain + * The added chain is copied. + * + * @param chain The chain to add + */ + void addChain(const Chain& chain); + + /** + * Request the total number of joints in the chain.\n + * <strong> Important:</strong> It is not the + * same as the total number of segments since a segment does not + * need to have a joint. This function is important when + * creating a KDL::JntArray to use with this chain. + * @return total nr of joints + */ + unsigned int getNrOfJoints()const {return nrOfJoints;}; + /** + * Request the total number of segments in the chain. + * @return total number of segments + */ + unsigned int getNrOfSegments()const {return nrOfSegments;}; + + /** + * Request the nr'd segment of the chain. There is no boundary + * checking. + * + * @param nr the nr of the segment starting from 0 + * + * @return a constant reference to the nr'd segment + */ + const Segment& getSegment(unsigned int nr)const; + + virtual ~Chain(); + }; + + + +}//end of namespace KDL + +#endif diff --git a/intern/itasc/kdl/chainfksolver.hpp b/intern/itasc/kdl/chainfksolver.hpp new file mode 100644 index 00000000000..fa6f625ee9d --- /dev/null +++ b/intern/itasc/kdl/chainfksolver.hpp @@ -0,0 +1,107 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_CHAIN_FKSOLVER_HPP +#define KDL_CHAIN_FKSOLVER_HPP + +#include "chain.hpp" +#include "framevel.hpp" +#include "frameacc.hpp" +#include "jntarray.hpp" +#include "jntarrayvel.hpp" +#include "jntarrayacc.hpp" + +namespace KDL { + + /** + * \brief This <strong>abstract</strong> class encapsulates a + * solver for the forward position kinematics for a KDL::Chain. + * + * @ingroup KinematicFamily + */ + + //Forward definition + class ChainFkSolverPos { + public: + /** + * Calculate forward position kinematics for a KDL::Chain, + * from joint coordinates to cartesian pose. + * + * @param q_in input joint coordinates + * @param p_out reference to output cartesian pose + * + * @return if < 0 something went wrong + */ + virtual int JntToCart(const JntArray& q_in, Frame& p_out,int segmentNr=-1)=0; + virtual ~ChainFkSolverPos(){}; + }; + + /** + * \brief This <strong>abstract</strong> class encapsulates a solver + * for the forward velocity kinematics for a KDL::Chain. + * + * @ingroup KinematicFamily + */ + class ChainFkSolverVel { + public: + /** + * Calculate forward position and velocity kinematics, from + * joint coordinates to cartesian coordinates. + * + * @param q_in input joint coordinates (position and velocity) + * @param out output cartesian coordinates (position and velocity) + * + * @return if < 0 something went wrong + */ + virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0; + + virtual ~ChainFkSolverVel(){}; + }; + + /** + * \brief This <strong>abstract</strong> class encapsulates a solver + * for the forward acceleration kinematics for a KDL::Chain. + * + * @ingroup KinematicFamily + */ + + class ChainFkSolverAcc { + public: + /** + * Calculate forward position, velocity and accelaration + * kinematics, from joint coordinates to cartesian coordinates + * + * @param q_in input joint coordinates (position, velocity and + * acceleration + @param out output cartesian coordinates (position, velocity + * and acceleration + * + * @return if < 0 something went wrong + */ + virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0; + + virtual ~ChainFkSolverAcc()=0; + }; + + +}//end of namespace KDL + +#endif diff --git a/intern/itasc/kdl/chainfksolverpos_recursive.cpp b/intern/itasc/kdl/chainfksolverpos_recursive.cpp new file mode 100644 index 00000000000..46c29c9c6e0 --- /dev/null +++ b/intern/itasc/kdl/chainfksolverpos_recursive.cpp @@ -0,0 +1,61 @@ +// Copyright (C) 2007 Francois Cauwe <francois at cauwe dot org> +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "chainfksolverpos_recursive.hpp" +#include <iostream> + +namespace KDL { + + ChainFkSolverPos_recursive::ChainFkSolverPos_recursive(const Chain& _chain): + chain(_chain) + { + } + + int ChainFkSolverPos_recursive::JntToCart(const JntArray& q_in, Frame& p_out, int segmentNr) + { + unsigned int segNr = (unsigned int)segmentNr; + if(segmentNr<0) + segNr=chain.getNrOfSegments(); + + p_out = Frame::Identity(); + + if(q_in.rows()!=chain.getNrOfJoints()) + return -1; + else if(segNr>chain.getNrOfSegments()) + return -1; + else{ + int j=0; + for(unsigned int i=0;i<segNr;i++){ + p_out = p_out*chain.getSegment(i).pose(((JntArray&)q_in)(j)); + j+=chain.getSegment(i).getJoint().getNDof(); + } + return 0; + } + } + + + ChainFkSolverPos_recursive::~ChainFkSolverPos_recursive() + { + } + + +} diff --git a/intern/itasc/kdl/chainfksolverpos_recursive.hpp b/intern/itasc/kdl/chainfksolverpos_recursive.hpp new file mode 100644 index 00000000000..72cdab0b28b --- /dev/null +++ b/intern/itasc/kdl/chainfksolverpos_recursive.hpp @@ -0,0 +1,50 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDLCHAINFKSOLVERPOS_RECURSIVE_HPP +#define KDLCHAINFKSOLVERPOS_RECURSIVE_HPP + +#include "chainfksolver.hpp" + +namespace KDL { + + /** + * Implementation of a recursive forward position kinematics + * algorithm to calculate the position transformation from joint + * space to Cartesian space of a general kinematic chain (KDL::Chain). + * + * @ingroup KinematicFamily + */ + class ChainFkSolverPos_recursive : public ChainFkSolverPos + { + public: + ChainFkSolverPos_recursive(const Chain& chain); + ~ChainFkSolverPos_recursive(); + + virtual int JntToCart(const JntArray& q_in, Frame& p_out, int segmentNr=-1); + + private: + const Chain chain; + }; + +} + +#endif diff --git a/intern/itasc/kdl/chainjnttojacsolver.cpp b/intern/itasc/kdl/chainjnttojacsolver.cpp new file mode 100644 index 00000000000..4a801c041f3 --- /dev/null +++ b/intern/itasc/kdl/chainjnttojacsolver.cpp @@ -0,0 +1,80 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "chainjnttojacsolver.hpp" + +namespace KDL +{ + ChainJntToJacSolver::ChainJntToJacSolver(const Chain& _chain): + chain(_chain) + { + } + + ChainJntToJacSolver::~ChainJntToJacSolver() + { + } + + int ChainJntToJacSolver::JntToJac(const JntArray& q_in,Jacobian& jac) + { + assert(q_in.rows()==chain.getNrOfJoints()&& + q_in.rows()==jac.columns()); + + + Frame T_local, T_joint; + T_total = Frame::Identity(); + SetToZero(t_local); + + int i=chain.getNrOfSegments()-1; + unsigned int q_nr = chain.getNrOfJoints(); + + //Lets recursively iterate until we are in the root segment + while (i >= 0) { + const Segment& segment = chain.getSegment(i); + int ndof = segment.getJoint().getNDof(); + q_nr -= ndof; + + //get the pose of the joint. + T_joint = segment.getJoint().pose(((JntArray&)q_in)(q_nr)); + // combine with the tip to have the tip pose + T_local = T_joint*segment.getFrameToTip(); + //calculate new T_end: + T_total = T_local * T_total; + + for (int dof=0; dof<ndof; dof++) { + // combine joint rotation with tip position to get a reference frame for the joint + T_joint.p = T_local.p; + // in which the twist can be computed (needed for NDof joint) + t_local = segment.twist(T_joint, 1.0, dof); + //transform the endpoint of the local twist to the global endpoint: + t_local = t_local.RefPoint(T_total.p - T_local.p); + //transform the base of the twist to the endpoint + t_local = T_total.M.Inverse(t_local); + //store the twist in the jacobian: + jac.twists[q_nr+dof] = t_local; + } + i--; + }//endwhile + //Change the base of the complete jacobian from the endpoint to the base + changeBase(jac, T_total.M, jac); + return 0; + } +} + diff --git a/intern/itasc/kdl/chainjnttojacsolver.hpp b/intern/itasc/kdl/chainjnttojacsolver.hpp new file mode 100644 index 00000000000..98f9d06ee0d --- /dev/null +++ b/intern/itasc/kdl/chainjnttojacsolver.hpp @@ -0,0 +1,65 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_CHAINJNTTOJACSOLVER_HPP +#define KDL_CHAINJNTTOJACSOLVER_HPP + +#include "frames.hpp" +#include "jacobian.hpp" +#include "jntarray.hpp" +#include "chain.hpp" + +namespace KDL +{ + /** + * @brief Class to calculate the jacobian of a general + * KDL::Chain, it is used by other solvers. It should not be used + * outside of KDL. + * + * + */ + + class ChainJntToJacSolver + { + public: + ChainJntToJacSolver(const Chain& chain); + ~ChainJntToJacSolver(); + /** + * Calculate the jacobian expressed in the base frame of the + * chain, with reference point at the end effector of the + * *chain. The alghoritm is similar to the one used in + * KDL::ChainFkSolverVel_recursive + * + * @param q_in input joint positions + * @param jac output jacobian + * + * @return always returns 0 + */ + int JntToJac(const JntArray& q_in,Jacobian& jac); + + private: + const Chain chain; + Twist t_local; + Frame T_total; + }; +} +#endif + diff --git a/intern/itasc/kdl/frameacc.cpp b/intern/itasc/kdl/frameacc.cpp new file mode 100644 index 00000000000..85c4179379a --- /dev/null +++ b/intern/itasc/kdl/frameacc.cpp @@ -0,0 +1,26 @@ +/***************************************************************************** + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id: frameacc.cpp 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + ****************************************************************************/ + + +#include "frameacc.hpp" + +namespace KDL { + +#ifndef KDL_INLINE + #include "frameacc.inl" +#endif + +} + diff --git a/intern/itasc/kdl/frameacc.hpp b/intern/itasc/kdl/frameacc.hpp new file mode 100644 index 00000000000..4157237222e --- /dev/null +++ b/intern/itasc/kdl/frameacc.hpp @@ -0,0 +1,259 @@ +/***************************************************************************** + * \file + * This file contains the definition of classes for a + * Rall Algebra of (subset of) the classes defined in frames, + * i.e. classes that contain a set (value,derivative,2nd derivative) + * and define operations on that set + * this classes are usefull for automatic differentiation ( <-> symbolic diff , + * <-> numeric diff). + * Defines VectorAcc, RotationAcc, FrameAcc, doubleAcc. + * Look at the corresponding classes Vector Rotation Frame Twist and + * Wrench for the semantics of the methods. + * + * It also contains the 2nd derivative <-> RFrames.h + * + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id: frameacc.hpp 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + ****************************************************************************/ + +#ifndef RRFRAMES_H +#define RRFRAMES_H + + +#include "utilities/rall2d.h" +#include "frames.hpp" + + + +namespace KDL { + +class TwistAcc; +typedef Rall2d<double,double,double> doubleAcc; + + +class VectorAcc +{ +public: + Vector p; //!< position vector + Vector v; //!< velocity vector + Vector dv; //!< acceleration vector +public: + VectorAcc():p(),v(),dv() {} + explicit VectorAcc(const Vector& _p):p(_p),v(Vector::Zero()),dv(Vector::Zero()) {} + VectorAcc(const Vector& _p,const Vector& _v):p(_p),v(_v),dv(Vector::Zero()) {} + VectorAcc(const Vector& _p,const Vector& _v,const Vector& _dv): + p(_p),v(_v),dv(_dv) {} + IMETHOD VectorAcc& operator = (const VectorAcc& arg); + IMETHOD VectorAcc& operator = (const Vector& arg); + IMETHOD VectorAcc& operator += (const VectorAcc& arg); + IMETHOD VectorAcc& operator -= (const VectorAcc& arg); + IMETHOD static VectorAcc Zero(); + IMETHOD void ReverseSign(); + IMETHOD doubleAcc Norm(); + IMETHOD friend VectorAcc operator + (const VectorAcc& r1,const VectorAcc& r2); + IMETHOD friend VectorAcc operator - (const VectorAcc& r1,const VectorAcc& r2); + IMETHOD friend VectorAcc operator + (const Vector& r1,const VectorAcc& r2); + IMETHOD friend VectorAcc operator - (const Vector& r1,const VectorAcc& r2); + IMETHOD friend VectorAcc operator + (const VectorAcc& r1,const Vector& r2); + IMETHOD friend VectorAcc operator - (const VectorAcc& r1,const Vector& r2); + IMETHOD friend VectorAcc operator * (const VectorAcc& r1,const VectorAcc& r2); + IMETHOD friend VectorAcc operator * (const VectorAcc& r1,const Vector& r2); + IMETHOD friend VectorAcc operator * (const Vector& r1,const VectorAcc& r2); + IMETHOD friend VectorAcc operator * (const VectorAcc& r1,double r2); + IMETHOD friend VectorAcc operator * (double r1,const VectorAcc& r2); + IMETHOD friend VectorAcc operator * (const doubleAcc& r1,const VectorAcc& r2); + IMETHOD friend VectorAcc operator * (const VectorAcc& r2,const doubleAcc& r1); + IMETHOD friend VectorAcc operator*(const Rotation& R,const VectorAcc& x); + + IMETHOD friend VectorAcc operator / (const VectorAcc& r1,double r2); + IMETHOD friend VectorAcc operator / (const VectorAcc& r2,const doubleAcc& r1); + + + IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps=epsilon); + IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps=epsilon); + IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps=epsilon); + IMETHOD friend VectorAcc operator - (const VectorAcc& r); + IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const VectorAcc& rhs); + IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const Vector& rhs); + IMETHOD friend doubleAcc dot(const Vector& lhs,const VectorAcc& rhs); +}; + + + +class RotationAcc +{ +public: + Rotation R; //!< rotation matrix + Vector w; //!< angular velocity vector + Vector dw; //!< angular acceration vector +public: + RotationAcc():R(),w() {} + explicit RotationAcc(const Rotation& _R):R(_R),w(Vector::Zero()){} + RotationAcc(const Rotation& _R,const Vector& _w,const Vector& _dw): + R(_R),w(_w),dw(_dw) {} + IMETHOD RotationAcc& operator = (const RotationAcc& arg); + IMETHOD RotationAcc& operator = (const Rotation& arg); + IMETHOD static RotationAcc Identity(); + IMETHOD RotationAcc Inverse() const; + IMETHOD VectorAcc Inverse(const VectorAcc& arg) const; + IMETHOD VectorAcc Inverse(const Vector& arg) const; + IMETHOD VectorAcc operator*(const VectorAcc& arg) const; + IMETHOD VectorAcc operator*(const Vector& arg) const; + + // Rotations + // The SetRot.. functions set the value of *this to the appropriate rotation matrix. + // The Rot... static functions give the value of the appropriate rotation matrix back. + // The DoRot... functions apply a rotation R to *this,such that *this = *this * R. + // IMETHOD void DoRotX(const doubleAcc& angle); + // IMETHOD void DoRotY(const doubleAcc& angle); + // IMETHOD void DoRotZ(const doubleAcc& angle); + // IMETHOD static RRotation RotX(const doubleAcc& angle); + // IMETHOD static RRotation RotY(const doubleAcc& angle); + // IMETHOD static RRotation RotZ(const doubleAcc& angle); + + // IMETHOD void SetRot(const Vector& rotaxis,const doubleAcc& angle); + // Along an arbitrary axes. The norm of rotvec is neglected. + // IMETHOD static RotationAcc Rot(const Vector& rotvec,const doubleAcc& angle); + // rotvec has arbitrary norm + // rotation around a constant vector ! + // IMETHOD static RotationAcc Rot2(const Vector& rotvec,const doubleAcc& angle); + // rotvec is normalized. + // rotation around a constant vector ! + + IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const RotationAcc& r2); + IMETHOD friend RotationAcc operator* (const Rotation& r1,const RotationAcc& r2); + IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const Rotation& r2); + IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps=epsilon); + IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps=epsilon); + IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps=epsilon); + IMETHOD TwistAcc Inverse(const TwistAcc& arg) const; + IMETHOD TwistAcc Inverse(const Twist& arg) const; + IMETHOD TwistAcc operator * (const TwistAcc& arg) const; + IMETHOD TwistAcc operator * (const Twist& arg) const; +}; + + + + +class FrameAcc +{ +public: + RotationAcc M; //!< Rotation,angular velocity, and angular acceleration of frame. + VectorAcc p; //!< Translation, velocity and acceleration of origin. +public: + FrameAcc(){} + explicit FrameAcc(const Frame& _T):M(_T.M),p(_T.p) {} + FrameAcc(const Frame& _T,const Twist& _t,const Twist& _dt): + M(_T.M,_t.rot,_dt.rot),p(_T.p,_t.vel,_dt.vel) {} + FrameAcc(const RotationAcc& _M,const VectorAcc& _p):M(_M),p(_p) {} + + IMETHOD FrameAcc& operator = (const FrameAcc& arg); + IMETHOD FrameAcc& operator = (const Frame& arg); + IMETHOD static FrameAcc Identity(); + IMETHOD FrameAcc Inverse() const; + IMETHOD VectorAcc Inverse(const VectorAcc& arg) const; + IMETHOD VectorAcc operator*(const VectorAcc& arg) const; + IMETHOD VectorAcc operator*(const Vector& arg) const; + IMETHOD VectorAcc Inverse(const Vector& arg) const; + IMETHOD Frame GetFrame() const; + IMETHOD Twist GetTwist() const; + IMETHOD Twist GetAccTwist() const; + IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const FrameAcc& f2); + IMETHOD friend FrameAcc operator * (const Frame& f1,const FrameAcc& f2); + IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const Frame& f2); + IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps=epsilon); + IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps=epsilon); + IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps=epsilon); + + IMETHOD TwistAcc Inverse(const TwistAcc& arg) const; + IMETHOD TwistAcc Inverse(const Twist& arg) const; + IMETHOD TwistAcc operator * (const TwistAcc& arg) const; + IMETHOD TwistAcc operator * (const Twist& arg) const; +}; + + + + + + + + +//very similar to Wrench class. +class TwistAcc +{ +public: + VectorAcc vel; //!< translational velocity and its 1st and 2nd derivative + VectorAcc rot; //!< rotational velocity and its 1st and 2nd derivative +public: + + TwistAcc():vel(),rot() {}; + TwistAcc(const VectorAcc& _vel,const VectorAcc& _rot):vel(_vel),rot(_rot) {}; + + IMETHOD TwistAcc& operator-=(const TwistAcc& arg); + IMETHOD TwistAcc& operator+=(const TwistAcc& arg); + + IMETHOD friend TwistAcc operator*(const TwistAcc& lhs,double rhs); + IMETHOD friend TwistAcc operator*(double lhs,const TwistAcc& rhs); + IMETHOD friend TwistAcc operator/(const TwistAcc& lhs,double rhs); + + IMETHOD friend TwistAcc operator*(const TwistAcc& lhs,const doubleAcc& rhs); + IMETHOD friend TwistAcc operator*(const doubleAcc& lhs,const TwistAcc& rhs); + IMETHOD friend TwistAcc operator/(const TwistAcc& lhs,const doubleAcc& rhs); + + IMETHOD friend TwistAcc operator+(const TwistAcc& lhs,const TwistAcc& rhs); + IMETHOD friend TwistAcc operator-(const TwistAcc& lhs,const TwistAcc& rhs); + IMETHOD friend TwistAcc operator-(const TwistAcc& arg); + + IMETHOD friend void SetToZero(TwistAcc& v); + + static IMETHOD TwistAcc Zero(); + + IMETHOD void ReverseSign(); + + IMETHOD TwistAcc RefPoint(const VectorAcc& v_base_AB); + // Changes the reference point of the RTwist. + // The RVector v_base_AB is expressed in the same base as the RTwist + // The RVector v_base_AB is a RVector from the old point to + // the new point. + // Complexity : 6M+6A + + IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps=epsilon); + IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps=epsilon); + IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps=epsilon); + + + IMETHOD Twist GetTwist() const; + IMETHOD Twist GetTwistDot() const; + + friend class RotationAcc; + friend class FrameAcc; + +}; + + + + + + + +#ifdef KDL_INLINE +#include "frameacc.inl" +#endif + +} + + + + + +#endif diff --git a/intern/itasc/kdl/frameacc.inl b/intern/itasc/kdl/frameacc.inl new file mode 100644 index 00000000000..a8ea35ad436 --- /dev/null +++ b/intern/itasc/kdl/frameacc.inl @@ -0,0 +1,598 @@ +/***************************************************************************** + * \file + * provides inline functions of rrframes.h + * + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id: frameacc.inl 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + ****************************************************************************/ + + + + +/////////////////// VectorAcc ///////////////////////////////////// + +VectorAcc operator + (const VectorAcc& r1,const VectorAcc& r2) { + return VectorAcc(r1.p+r2.p,r1.v+r2.v,r1.dv+r2.dv); +} + +VectorAcc operator - (const VectorAcc& r1,const VectorAcc& r2) { + return VectorAcc(r1.p-r2.p, r1.v-r2.v, r1.dv-r2.dv); +} +VectorAcc operator + (const Vector& r1,const VectorAcc& r2) { + return VectorAcc(r1+r2.p,r2.v,r2.dv); +} + +VectorAcc operator - (const Vector& r1,const VectorAcc& r2) { + return VectorAcc(r1-r2.p, -r2.v, -r2.dv); +} +VectorAcc operator + (const VectorAcc& r1,const Vector& r2) { + return VectorAcc(r1.p+r2,r1.v,r1.dv); +} + +VectorAcc operator - (const VectorAcc& r1,const Vector& r2) { + return VectorAcc(r1.p-r2, r1.v, r1.dv); +} + +// unary - +VectorAcc operator - (const VectorAcc& r) { + return VectorAcc(-r.p,-r.v,-r.dv); +} + +// cross prod. +VectorAcc operator * (const VectorAcc& r1,const VectorAcc& r2) { + return VectorAcc(r1.p*r2.p, + r1.p*r2.v+r1.v*r2.p, + r1.dv*r2.p+2*r1.v*r2.v+r1.p*r2.dv + ); +} + +VectorAcc operator * (const VectorAcc& r1,const Vector& r2) { + return VectorAcc(r1.p*r2, r1.v*r2, r1.dv*r2 ); +} + +VectorAcc operator * (const Vector& r1,const VectorAcc& r2) { + return VectorAcc(r1*r2.p, r1*r2.v, r1*r2.dv ); +} + + + +// scalar mult. +VectorAcc operator * (double r1,const VectorAcc& r2) { + return VectorAcc(r1*r2.p, r1*r2.v, r1*r2.dv ); +} + +VectorAcc operator * (const VectorAcc& r1,double r2) { + return VectorAcc(r1.p*r2, r1.v*r2, r1.dv*r2 ); +} + +VectorAcc operator * (const doubleAcc& r1,const VectorAcc& r2) { + return VectorAcc(r1.t*r2.p, + r1.t*r2.v + r1.d*r2.p, + r1.t*r2.dv + 2*r1.d*r2.v + r1.dd*r2.p + ); +} + +VectorAcc operator * (const VectorAcc& r2,const doubleAcc& r1) { + return VectorAcc(r1.t*r2.p, + r1.t*r2.v + r1.d*r2.p, + r1.t*r2.dv + 2*r1.d*r2.v + r1.dd*r2.p + ); +} + +VectorAcc& VectorAcc::operator = (const VectorAcc& arg) { + p=arg.p; + v=arg.v; + dv=arg.dv; + return *this; +} + +VectorAcc& VectorAcc::operator = (const Vector& arg) { + p=arg; + v=Vector::Zero(); + dv=Vector::Zero(); + return *this; +} + +VectorAcc& VectorAcc::operator += (const VectorAcc& arg) { + p+=arg.p; + v+=arg.v; + dv+= arg.dv; + return *this; +} +VectorAcc& VectorAcc::operator -= (const VectorAcc& arg) { + p-=arg.p; + v-=arg.v; + dv-=arg.dv; + return *this; +} + +VectorAcc VectorAcc::Zero() { + return VectorAcc(Vector::Zero(),Vector::Zero(),Vector::Zero()); +} + +void VectorAcc::ReverseSign() { + p.ReverseSign(); + v.ReverseSign(); + dv.ReverseSign(); +} + +doubleAcc VectorAcc::Norm() { + doubleAcc res; + res.t = p.Norm(); + res.d = dot(p,v)/res.t; + res.dd = (dot(p,dv)+dot(v,v)-res.d*res.d)/res.t; + return res; +} + +doubleAcc dot(const VectorAcc& lhs,const VectorAcc& rhs) { + return doubleAcc( dot(lhs.p,rhs.p), + dot(lhs.p,rhs.v)+dot(lhs.v,rhs.p), + dot(lhs.p,rhs.dv)+2*dot(lhs.v,rhs.v)+dot(lhs.dv,rhs.p) + ); +} + +doubleAcc dot(const VectorAcc& lhs,const Vector& rhs) { + return doubleAcc( dot(lhs.p,rhs), + dot(lhs.v,rhs), + dot(lhs.dv,rhs) + ); +} + +doubleAcc dot(const Vector& lhs,const VectorAcc& rhs) { + return doubleAcc( dot(lhs,rhs.p), + dot(lhs,rhs.v), + dot(lhs,rhs.dv) + ); +} + + +bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps) { + return (Equal(r1.p,r2.p,eps) + && Equal(r1.v,r2.v,eps) + && Equal(r1.dv,r2.dv,eps) + ); +} + +bool Equal(const Vector& r1,const VectorAcc& r2,double eps) { + return (Equal(r1,r2.p,eps) + && Equal(Vector::Zero(),r2.v,eps) + && Equal(Vector::Zero(),r2.dv,eps) + ); +} + +bool Equal(const VectorAcc& r1,const Vector& r2,double eps) { + return (Equal(r1.p,r2,eps) + && Equal(r1.v,Vector::Zero(),eps) + && Equal(r1.dv,Vector::Zero(),eps) + ); +} + +VectorAcc operator / (const VectorAcc& r1,double r2) { + return r1*(1.0/r2); +} + +VectorAcc operator / (const VectorAcc& r2,const doubleAcc& r1) { + return r2*(1.0/r1); +} + + + +/////////////////// RotationAcc ///////////////////////////////////// + +RotationAcc operator* (const RotationAcc& r1,const RotationAcc& r2) { + return RotationAcc( r1.R * r2.R, + r1.w + r1.R*r2.w, + r1.dw + r1.w*(r1.R*r2.w) + r1.R*r2.dw + ); +} + +RotationAcc operator* (const Rotation& r1,const RotationAcc& r2) { + return RotationAcc( r1*r2.R, r1*r2.w, r1*r2.dw); +} + +RotationAcc operator* (const RotationAcc& r1,const Rotation& r2) { + return RotationAcc( r1.R*r2, r1.w, r1.dw ); +} + +RotationAcc& RotationAcc::operator = (const RotationAcc& arg) { + R=arg.R; + w=arg.w; + dw=arg.dw; + return *this; +} +RotationAcc& RotationAcc::operator = (const Rotation& arg) { + R = arg; + w = Vector::Zero(); + dw = Vector::Zero(); + return *this; +} + +RotationAcc RotationAcc::Identity() { + return RotationAcc(Rotation::Identity(),Vector::Zero(),Vector::Zero()); +} + +RotationAcc RotationAcc::Inverse() const { + return RotationAcc(R.Inverse(),-R.Inverse(w),-R.Inverse(dw)); +} + +VectorAcc RotationAcc::Inverse(const VectorAcc& arg) const { + VectorAcc tmp; + tmp.p = R.Inverse(arg.p); + tmp.v = R.Inverse(arg.v - w * arg.p); + tmp.dv = R.Inverse(arg.dv - dw*arg.p - w*(arg.v+R*tmp.v)); + return tmp; +} + +VectorAcc RotationAcc::Inverse(const Vector& arg) const { + VectorAcc tmp; + tmp.p = R.Inverse(arg); + tmp.v = R.Inverse(-w*arg); + tmp.dv = R.Inverse(-dw*arg - w*(R*tmp.v)); + return tmp; +} + + +VectorAcc RotationAcc::operator*(const VectorAcc& arg) const { + VectorAcc tmp; + tmp.p = R*arg.p; + tmp.dv = R*arg.v; + tmp.v = w*tmp.p + tmp.dv; + tmp.dv = dw*tmp.p + w*(tmp.v + tmp.dv) + R*arg.dv; + return tmp; +} + +VectorAcc operator*(const Rotation& R,const VectorAcc& x) { + return VectorAcc(R*x.p,R*x.v,R*x.dv); +} + +VectorAcc RotationAcc::operator*(const Vector& arg) const { + VectorAcc tmp; + tmp.p = R*arg; + tmp.v = w*tmp.p; + tmp.dv = dw*tmp.p + w*tmp.v; + return tmp; +} + +/* + // = Rotations + // The Rot... static functions give the value of the appropriate rotation matrix back. + // The DoRot... functions apply a rotation R to *this,such that *this = *this * R. + + void RRotation::DoRotX(const RDouble& angle) { + w+=R*Vector(angle.grad,0,0); + R.DoRotX(angle.t); + } +RotationAcc RotationAcc::RotX(const doubleAcc& angle) { + return RotationAcc(Rotation::RotX(angle.t), + Vector(angle.d,0,0), + Vector(angle.dd,0,0) + ); +} + + void RRotation::DoRotY(const RDouble& angle) { + w+=R*Vector(0,angle.grad,0); + R.DoRotY(angle.t); + } +RotationAcc RotationAcc::RotY(const doubleAcc& angle) { + return RotationAcc( + Rotation::RotX(angle.t), + Vector(0,angle.d,0), + Vector(0,angle.dd,0) + ); +} + + void RRotation::DoRotZ(const RDouble& angle) { + w+=R*Vector(0,0,angle.grad); + R.DoRotZ(angle.t); + } +RotationAcc RotationAcc::RotZ(const doubleAcc& angle) { + return RotationAcc( + Rotation::RotZ(angle.t), + Vector(0,0,angle.d), + Vector(0,0,angle.dd) + ); +} + + + RRotation RRotation::Rot(const Vector& rotvec,const RDouble& angle) + // rotvec has arbitrary norm + // rotation around a constant vector ! + { + Vector v = rotvec.Normalize(); + return RRotation(Rotation::Rot2(v,angle.t),v*angle.grad); + } + + RRotation RRotation::Rot2(const Vector& rotvec,const RDouble& angle) + // rotvec is normalized. + { + return RRotation(Rotation::Rot2(rotvec,angle.t),rotvec*angle.grad); + } + +*/ + +bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps) { + return (Equal(r1.w,r2.w,eps) && Equal(r1.R,r2.R,eps) && Equal(r1.dw,r2.dw,eps) ); +} +bool Equal(const Rotation& r1,const RotationAcc& r2,double eps) { + return (Equal(Vector::Zero(),r2.w,eps) && Equal(r1,r2.R,eps) && + Equal(Vector::Zero(),r2.dw,eps) ); +} +bool Equal(const RotationAcc& r1,const Rotation& r2,double eps) { + return (Equal(r1.w,Vector::Zero(),eps) && Equal(r1.R,r2,eps) && + Equal(r1.dw,Vector::Zero(),eps) ); +} + + +// Methods and operators related to FrameAcc +// They all delegate most of the work to RotationAcc and VectorAcc +FrameAcc& FrameAcc::operator = (const FrameAcc& arg) { + M=arg.M; + p=arg.p; + return *this; +} + +FrameAcc FrameAcc::Identity() { + return FrameAcc(RotationAcc::Identity(),VectorAcc::Zero()); +} + + +FrameAcc operator *(const FrameAcc& lhs,const FrameAcc& rhs) +{ + return FrameAcc(lhs.M*rhs.M,lhs.M*rhs.p+lhs.p); +} +FrameAcc operator *(const FrameAcc& lhs,const Frame& rhs) +{ + return FrameAcc(lhs.M*rhs.M,lhs.M*rhs.p+lhs.p); +} +FrameAcc operator *(const Frame& lhs,const FrameAcc& rhs) +{ + return FrameAcc(lhs.M*rhs.M,lhs.M*rhs.p+lhs.p); +} + +VectorAcc FrameAcc::operator *(const VectorAcc & arg) const +{ + return M*arg+p; +} +VectorAcc FrameAcc::operator *(const Vector & arg) const +{ + return M*arg+p; +} + +VectorAcc FrameAcc::Inverse(const VectorAcc& arg) const +{ + return M.Inverse(arg-p); +} + +VectorAcc FrameAcc::Inverse(const Vector& arg) const +{ + return M.Inverse(arg-p); +} + +FrameAcc FrameAcc::Inverse() const +{ + return FrameAcc(M.Inverse(),-M.Inverse(p)); +} + +FrameAcc& FrameAcc::operator =(const Frame & arg) +{ + M = arg.M; + p = arg.p; + return *this; +} + +bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps) { + return (Equal(r1.M,r2.M,eps) && Equal(r1.p,r2.p,eps)); +} +bool Equal(const Frame& r1,const FrameAcc& r2,double eps) { + return (Equal(r1.M,r2.M,eps) && Equal(r1.p,r2.p,eps)); +} +bool Equal(const FrameAcc& r1,const Frame& r2,double eps) { + return (Equal(r1.M,r2.M,eps) && Equal(r1.p,r2.p,eps)); +} + + +Frame FrameAcc::GetFrame() const { + return Frame(M.R,p.p); +} + + +Twist FrameAcc::GetTwist() const { + return Twist(p.v,M.w); +} + + +Twist FrameAcc::GetAccTwist() const { + return Twist(p.dv,M.dw); +} + + + + + + + + + + + + + + + + + +TwistAcc TwistAcc::Zero() +{ + return TwistAcc(VectorAcc::Zero(),VectorAcc::Zero()); +} + + +void TwistAcc::ReverseSign() +{ + vel.ReverseSign(); + rot.ReverseSign(); +} + +TwistAcc TwistAcc::RefPoint(const VectorAcc& v_base_AB) + // Changes the reference point of the TwistAcc. + // The RVector v_base_AB is expressed in the same base as the TwistAcc + // The RVector v_base_AB is a RVector from the old point to + // the new point. + // Complexity : 6M+6A +{ + return TwistAcc(this->vel+this->rot*v_base_AB,this->rot); +} + +TwistAcc& TwistAcc::operator-=(const TwistAcc& arg) +{ + vel-=arg.vel; + rot -=arg.rot; + return *this; +} + +TwistAcc& TwistAcc::operator+=(const TwistAcc& arg) +{ + vel+=arg.vel; + rot +=arg.rot; + return *this; +} + + +TwistAcc operator*(const TwistAcc& lhs,double rhs) +{ + return TwistAcc(lhs.vel*rhs,lhs.rot*rhs); +} + +TwistAcc operator*(double lhs,const TwistAcc& rhs) +{ + return TwistAcc(lhs*rhs.vel,lhs*rhs.rot); +} + +TwistAcc operator/(const TwistAcc& lhs,double rhs) +{ + return TwistAcc(lhs.vel/rhs,lhs.rot/rhs); +} + + +TwistAcc operator*(const TwistAcc& lhs,const doubleAcc& rhs) +{ + return TwistAcc(lhs.vel*rhs,lhs.rot*rhs); +} + +TwistAcc operator*(const doubleAcc& lhs,const TwistAcc& rhs) +{ + return TwistAcc(lhs*rhs.vel,lhs*rhs.rot); +} + +TwistAcc operator/(const TwistAcc& lhs,const doubleAcc& rhs) +{ + return TwistAcc(lhs.vel/rhs,lhs.rot/rhs); +} + + + +// addition of TwistAcc's +TwistAcc operator+(const TwistAcc& lhs,const TwistAcc& rhs) +{ + return TwistAcc(lhs.vel+rhs.vel,lhs.rot+rhs.rot); +} + +TwistAcc operator-(const TwistAcc& lhs,const TwistAcc& rhs) +{ + return TwistAcc(lhs.vel-rhs.vel,lhs.rot-rhs.rot); +} + +// unary - +TwistAcc operator-(const TwistAcc& arg) +{ + return TwistAcc(-arg.vel,-arg.rot); +} + + + + + +TwistAcc RotationAcc::Inverse(const TwistAcc& arg) const +{ + return TwistAcc(Inverse(arg.vel),Inverse(arg.rot)); +} + +TwistAcc RotationAcc::operator * (const TwistAcc& arg) const +{ + return TwistAcc((*this)*arg.vel,(*this)*arg.rot); +} + +TwistAcc RotationAcc::Inverse(const Twist& arg) const +{ + return TwistAcc(Inverse(arg.vel),Inverse(arg.rot)); +} + +TwistAcc RotationAcc::operator * (const Twist& arg) const +{ + return TwistAcc((*this)*arg.vel,(*this)*arg.rot); +} + + +TwistAcc FrameAcc::operator * (const TwistAcc& arg) const +{ + TwistAcc tmp; + tmp.rot = M*arg.rot; + tmp.vel = M*arg.vel+p*tmp.rot; + return tmp; +} + +TwistAcc FrameAcc::operator * (const Twist& arg) const +{ + TwistAcc tmp; + tmp.rot = M*arg.rot; + tmp.vel = M*arg.vel+p*tmp.rot; + return tmp; +} + +TwistAcc FrameAcc::Inverse(const TwistAcc& arg) const +{ + TwistAcc tmp; + tmp.rot = M.Inverse(arg.rot); + tmp.vel = M.Inverse(arg.vel-p*arg.rot); + return tmp; +} + +TwistAcc FrameAcc::Inverse(const Twist& arg) const +{ + TwistAcc tmp; + tmp.rot = M.Inverse(arg.rot); + tmp.vel = M.Inverse(arg.vel-p*arg.rot); + return tmp; +} + +Twist TwistAcc::GetTwist() const { + return Twist(vel.p,rot.p); +} + +Twist TwistAcc::GetTwistDot() const { + return Twist(vel.v,rot.v); +} + +bool Equal(const TwistAcc& a,const TwistAcc& b,double eps) { + return (Equal(a.rot,b.rot,eps)&& + Equal(a.vel,b.vel,eps) ); +} +bool Equal(const Twist& a,const TwistAcc& b,double eps) { + return (Equal(a.rot,b.rot,eps)&& + Equal(a.vel,b.vel,eps) ); +} +bool Equal(const TwistAcc& a,const Twist& b,double eps) { + return (Equal(a.rot,b.rot,eps)&& + Equal(a.vel,b.vel,eps) ); +} + diff --git a/intern/itasc/kdl/frames.cpp b/intern/itasc/kdl/frames.cpp new file mode 100644 index 00000000000..7dcc39f2cd4 --- /dev/null +++ b/intern/itasc/kdl/frames.cpp @@ -0,0 +1,389 @@ +/*************************************************************************** + frames.cxx - description + ------------------------- + begin : June 2006 + copyright : (C) 2006 Erwin Aertbelien + email : firstname.lastname@mech.kuleuven.ac.be + + History (only major changes)( AUTHOR-Description ) : + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU Lesser General Public * + * License as published by the Free Software Foundation; either * + * version 2.1 of the License, or (at your option) any later version. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU Lesser General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + +#include "frames.hpp" + +namespace KDL { + +#ifndef KDL_INLINE +#include "frames.inl" +#endif + +void Frame::Make4x4(double * d) +{ + int i; + int j; + for (i=0;i<3;i++) { + for (j=0;j<3;j++) + d[i*4+j]=M(i,j); + d[i*4+3] = p(i)/1000; + } + for (j=0;j<3;j++) + d[12+j] = 0.; + d[15] = 1; +} + +Frame Frame::DH_Craig1989(double a,double alpha,double d,double theta) +// returns Modified Denavit-Hartenberg parameters (According to Craig) +{ + double ct,st,ca,sa; + ct = cos(theta); + st = sin(theta); + sa = sin(alpha); + ca = cos(alpha); + return Frame(Rotation( + ct, -st, 0, + st*ca, ct*ca, -sa, + st*sa, ct*sa, ca ), + Vector( + a, -sa*d, ca*d ) + ); +} + +Frame Frame::DH(double a,double alpha,double d,double theta) +// returns Denavit-Hartenberg parameters (Non-Modified DH) +{ + double ct,st,ca,sa; + ct = cos(theta); + st = sin(theta); + sa = sin(alpha); + ca = cos(alpha); + return Frame(Rotation( + ct, -st*ca, st*sa, + st, ct*ca, -ct*sa, + 0, sa, ca ), + Vector( + a*ct, a*st, d ) + ); +} + +double Vector2::Norm() const +{ + double tmp0 = fabs(data[0]); + double tmp1 = fabs(data[1]); + if (tmp0 >= tmp1) { + if (tmp1 == 0) + return 0; + return tmp0*sqrt(1+sqr(tmp1/tmp0)); + } else { + return tmp1*sqrt(1+sqr(tmp0/tmp1)); + } +} +// makes v a unitvector and returns the norm of v. +// if v is smaller than eps, Vector(1,0,0) is returned with norm 0. +// if this is not good, check the return value of this method. +double Vector2::Normalize(double eps) { + double v = this->Norm(); + if (v < eps) { + *this = Vector2(1,0); + return v; + } else { + *this = (*this)/v; + return v; + } +} + + +// do some effort not to lose precision +double Vector::Norm() const +{ + double tmp1; + double tmp2; + tmp1 = fabs(data[0]); + tmp2 = fabs(data[1]); + if (tmp1 >= tmp2) { + tmp2=fabs(data[2]); + if (tmp1 >= tmp2) { + if (tmp1 == 0) { + // only to everything exactly zero case, all other are handled correctly + return 0; + } + return tmp1*sqrt(1+sqr(data[1]/data[0])+sqr(data[2]/data[0])); + } else { + return tmp2*sqrt(1+sqr(data[0]/data[2])+sqr(data[1]/data[2])); + } + } else { + tmp1=fabs(data[2]); + if (tmp2 > tmp1) { + return tmp2*sqrt(1+sqr(data[0]/data[1])+sqr(data[2]/data[1])); + } else { + return tmp1*sqrt(1+sqr(data[0]/data[2])+sqr(data[1]/data[2])); + } + } +} + +// makes v a unitvector and returns the norm of v. +// if v is smaller than eps, Vector(1,0,0) is returned with norm 0. +// if this is not good, check the return value of this method. +double Vector::Normalize(double eps) { + double v = this->Norm(); + if (v < eps) { + *this = Vector(1,0,0); + return v; + } else { + *this = (*this)/v; + return v; + } +} + + +bool Equal(const Rotation& a,const Rotation& b,double eps) { + return (Equal(a.data[0],b.data[0],eps) && + Equal(a.data[1],b.data[1],eps) && + Equal(a.data[2],b.data[2],eps) && + Equal(a.data[3],b.data[3],eps) && + Equal(a.data[4],b.data[4],eps) && + Equal(a.data[5],b.data[5],eps) && + Equal(a.data[6],b.data[6],eps) && + Equal(a.data[7],b.data[7],eps) && + Equal(a.data[8],b.data[8],eps) ); +} + +void Rotation::Ortho() +{ + double n; + n=sqrt(sqr(data[0])+sqr(data[3])+sqr(data[6]));n=(n>1e-10)?1.0/n:0.0;data[0]*=n;data[3]*=n;data[6]*=n; + n=sqrt(sqr(data[1])+sqr(data[4])+sqr(data[7]));n=(n>1e-10)?1.0/n:0.0;data[1]*=n;data[4]*=n;data[7]*=n; + n=sqrt(sqr(data[2])+sqr(data[5])+sqr(data[8]));n=(n>1e-10)?1.0/n:0.0;data[2]*=n;data[5]*=n;data[8]*=n; +} + +Rotation operator *(const Rotation& lhs,const Rotation& rhs) +// Complexity : 27M+27A +{ + return Rotation( + lhs.data[0]*rhs.data[0]+lhs.data[1]*rhs.data[3]+lhs.data[2]*rhs.data[6], + lhs.data[0]*rhs.data[1]+lhs.data[1]*rhs.data[4]+lhs.data[2]*rhs.data[7], + lhs.data[0]*rhs.data[2]+lhs.data[1]*rhs.data[5]+lhs.data[2]*rhs.data[8], + lhs.data[3]*rhs.data[0]+lhs.data[4]*rhs.data[3]+lhs.data[5]*rhs.data[6], + lhs.data[3]*rhs.data[1]+lhs.data[4]*rhs.data[4]+lhs.data[5]*rhs.data[7], + lhs.data[3]*rhs.data[2]+lhs.data[4]*rhs.data[5]+lhs.data[5]*rhs.data[8], + lhs.data[6]*rhs.data[0]+lhs.data[7]*rhs.data[3]+lhs.data[8]*rhs.data[6], + lhs.data[6]*rhs.data[1]+lhs.data[7]*rhs.data[4]+lhs.data[8]*rhs.data[7], + lhs.data[6]*rhs.data[2]+lhs.data[7]*rhs.data[5]+lhs.data[8]*rhs.data[8] + ); + +} + + +Rotation Rotation::RPY(double roll,double pitch,double yaw) + { + double ca1,cb1,cc1,sa1,sb1,sc1; + ca1 = cos(yaw); sa1 = sin(yaw); + cb1 = cos(pitch);sb1 = sin(pitch); + cc1 = cos(roll);sc1 = sin(roll); + return Rotation(ca1*cb1,ca1*sb1*sc1 - sa1*cc1,ca1*sb1*cc1 + sa1*sc1, + sa1*cb1,sa1*sb1*sc1 + ca1*cc1,sa1*sb1*cc1 - ca1*sc1, + -sb1,cb1*sc1,cb1*cc1); + } + +// Gives back a rotation matrix specified with RPY convention +void Rotation::GetRPY(double& roll,double& pitch,double& yaw) const + { + if (fabs(data[6]) > 1.0 - epsilon ) { + roll = -sign(data[6]) * atan2(data[1], data[4]); + pitch= -sign(data[6]) * PI / 2; + yaw = 0.0 ; + } else { + roll = atan2(data[7], data[8]); + pitch = atan2(-data[6], sqrt( sqr(data[0]) +sqr(data[3]) ) ); + yaw = atan2(data[3], data[0]); + } + } + +Rotation Rotation::EulerZYZ(double Alfa,double Beta,double Gamma) { + double sa,ca,sb,cb,sg,cg; + sa = sin(Alfa);ca = cos(Alfa); + sb = sin(Beta);cb = cos(Beta); + sg = sin(Gamma);cg = cos(Gamma); + return Rotation( ca*cb*cg-sa*sg, -ca*cb*sg-sa*cg, ca*sb, + sa*cb*cg+ca*sg, -sa*cb*sg+ca*cg, sa*sb, + -sb*cg , sb*sg, cb + ); + + } + + +void Rotation::GetEulerZYZ(double& alfa,double& beta,double& gamma) const { + if (fabs(data[6]) < epsilon ) { + alfa=0.0; + if (data[8]>0) { + beta = 0.0; + gamma= atan2(-data[1],data[0]); + } else { + beta = PI; + gamma= atan2(data[1],-data[0]); + } + } else { + alfa=atan2(data[5], data[2]); + beta=atan2(sqrt( sqr(data[6]) +sqr(data[7]) ),data[8]); + gamma=atan2(data[7], -data[6]); + } + } + +Rotation Rotation::Rot(const Vector& rotaxis,double angle) { + // The formula is + // V.(V.tr) + st*[V x] + ct*(I-V.(V.tr)) + // can be found by multiplying it with an arbitrary vector p + // and noting that this vector is rotated. + double ct = cos(angle); + double st = sin(angle); + double vt = 1-ct; + Vector rotvec = rotaxis; + rotvec.Normalize(); + return Rotation( + ct + vt*rotvec(0)*rotvec(0), + -rotvec(2)*st + vt*rotvec(0)*rotvec(1), + rotvec(1)*st + vt*rotvec(0)*rotvec(2), + rotvec(2)*st + vt*rotvec(1)*rotvec(0), + ct + vt*rotvec(1)*rotvec(1), + -rotvec(0)*st + vt*rotvec(1)*rotvec(2), + -rotvec(1)*st + vt*rotvec(2)*rotvec(0), + rotvec(0)*st + vt*rotvec(2)*rotvec(1), + ct + vt*rotvec(2)*rotvec(2) + ); + } + +Rotation Rotation::Rot2(const Vector& rotvec,double angle) { + // rotvec should be normalized ! + // The formula is + // V.(V.tr) + st*[V x] + ct*(I-V.(V.tr)) + // can be found by multiplying it with an arbitrary vector p + // and noting that this vector is rotated. + double ct = cos(angle); + double st = sin(angle); + double vt = 1-ct; + return Rotation( + ct + vt*rotvec(0)*rotvec(0), + -rotvec(2)*st + vt*rotvec(0)*rotvec(1), + rotvec(1)*st + vt*rotvec(0)*rotvec(2), + rotvec(2)*st + vt*rotvec(1)*rotvec(0), + ct + vt*rotvec(1)*rotvec(1), + -rotvec(0)*st + vt*rotvec(1)*rotvec(2), + -rotvec(1)*st + vt*rotvec(2)*rotvec(0), + rotvec(0)*st + vt*rotvec(2)*rotvec(1), + ct + vt*rotvec(2)*rotvec(2) + ); +} + + + +Vector Rotation::GetRot() const + // Returns a vector with the direction of the equiv. axis + // and its norm is angle + { + Vector axis = Vector((data[7]-data[5]), + (data[2]-data[6]), + (data[3]-data[1]) )/2; + + double sa = axis.Norm(); + double ca = (data[0]+data[4]+data[8]-1)/2.0; + double alfa; + if (sa > epsilon) + alfa = ::atan2(sa,ca)/sa; + else { + if (ca < 0.0) { + alfa = KDL::PI; + axis.data[0] = 0.0; + axis.data[1] = 0.0; + axis.data[2] = 0.0; + if (data[0] > 0.0) { + axis.data[0] = 1.0; + } else if (data[4] > 0.0) { + axis.data[1] = 1.0; + } else { + axis.data[2] = 1.0; + } + } else { + alfa = 0.0; + } + } + return axis * alfa; + } + +Vector2 Rotation::GetXZRot() const +{ + // [0,1,0] x Y + Vector2 axis(data[7], -data[1]); + double norm = axis.Normalize(); + if (norm < epsilon) { + norm = (data[4] < 0.0) ? PI : 0.0; + } else { + norm = acos(data[4]); + } + return axis*norm; +} + + +/** Returns the rotation angle around the equiv. axis + * @param axis the rotation axis is returned in this variable + * @param eps : in the case of angle == 0 : rot axis is undefined and choosen + * to be +/- Z-axis + * in the case of angle == PI : 2 solutions, positive Z-component + * of the axis is choosen. + * @result returns the rotation angle (between [0..PI] ) + * /todo : + * Check corresponding routines in rframes and rrframes + */ +double Rotation::GetRotAngle(Vector& axis,double eps) const { + double ca = (data[0]+data[4]+data[8]-1)/2.0; + if (ca>1-eps) { + // undefined choose the Z-axis, and angle 0 + axis = Vector(0,0,1); + return 0; + } + if (ca < -1+eps) { + // two solutions, choose a positive Z-component of the axis + double z = sqrt( (data[8]+1)/2 ); + double x = (data[2])/2/z; + double y = (data[5])/2/z; + axis = Vector( x,y,z ); + return PI; + } + double angle = acos(ca); + double sa = sin(angle); + axis = Vector((data[7]-data[5])/2/sa, + (data[2]-data[6])/2/sa, + (data[3]-data[1])/2/sa ); + return angle; +} + +bool operator==(const Rotation& a,const Rotation& b) { +#ifdef KDL_USE_EQUAL + return Equal(a,b); +#else + return ( a.data[0]==b.data[0] && + a.data[1]==b.data[1] && + a.data[2]==b.data[2] && + a.data[3]==b.data[3] && + a.data[4]==b.data[4] && + a.data[5]==b.data[5] && + a.data[6]==b.data[6] && + a.data[7]==b.data[7] && + a.data[8]==b.data[8] ); +#endif +} +} diff --git a/intern/itasc/kdl/frames.hpp b/intern/itasc/kdl/frames.hpp new file mode 100644 index 00000000000..20590c5303e --- /dev/null +++ b/intern/itasc/kdl/frames.hpp @@ -0,0 +1,1097 @@ +/*************************************************************************** + frames.hpp `- description + ------------------------- + begin : June 2006 + copyright : (C) 2006 Erwin Aertbelien + email : firstname.lastname@mech.kuleuven.be + + History (only major changes)( AUTHOR-Description ) : + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU Lesser General Public * + * License as published by the Free Software Foundation; either * + * version 2.1 of the License, or (at your option) any later version. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU Lesser General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + +/** + * \file + * \warning + * Efficienty can be improved by writing p2 = A*(B*(C*p1))) instead of + * p2=A*B*C*p1 + * + * \par PROPOSED NAMING CONVENTION FOR FRAME-like OBJECTS + * + * \verbatim + * A naming convention of objects of the type defined in this file : + * (1) Frame : F... + * Rotation : R ... + * (2) Twist : T ... + * Wrench : W ... + * Vector : V ... + * This prefix is followed by : + * for category (1) : + * F_A_B : w.r.t. frame A, frame B expressed + * ( each column of F_A_B corresponds to an axis of B, + * expressed w.r.t. frame A ) + * in mathematical convention : + * A + * F_A_B == F + * B + * + * for category (2) : + * V_B : a vector expressed w.r.t. frame B + * + * This can also be prepended by a name : + * e.g. : temporaryV_B + * + * With this convention one can write : + * + * F_A_B = F_B_A.Inverse(); + * F_A_C = F_A_B * F_B_C; + * V_B = F_B_C * V_C; // both translation and rotation + * V_B = R_B_C * V_C; // only rotation + * \endverbatim + * + * \par CONVENTIONS FOR WHEN USED WITH ROBOTS : + * + * \verbatim + * world : represents the frame ([1 0 0,0 1 0,0 0 1],[0 0 0]') + * mp : represents mounting plate of a robot + * (i.e. everything before MP is constructed by robot manufacturer + * everything after MP is tool ) + * tf : represents task frame of a robot + * (i.e. frame in which motion and force control is expressed) + * sf : represents sensor frame of a robot + * (i.e. frame at which the forces measured by the force sensor + * are expressed ) + * + * Frame F_world_mp=...; + * Frame F_mp_sf(..) + * Frame F_mp_tf(,.) + * + * Wrench are measured in sensor frame SF, so one could write : + * Wrench_tf = F_mp_tf.Inverse()* ( F_mp_sf * Wrench_sf ); + * \endverbatim + * + * \par CONVENTIONS REGARDING UNITS : + * Any consistent series of units can be used, e.g. N,mm,Nmm,..mm/sec + * + * \par Twist and Wrench transformations + * 3 different types of transformations do exist for the twists + * and wrenches. + * + * \verbatim + * 1) Frame * Twist or Frame * Wrench : + * this transforms both the velocity/force reference point + * and the basis to which the twist/wrench are expressed. + * 2) Rotation * Twist or Rotation * Wrench : + * this transforms the basis to which the twist/wrench are + * expressed, but leaves the reference point intact. + * 3) Twist.RefPoint(v_base_AB) or Wrench.RefPoint(v_base_AB) + * this transforms only the reference point. v is expressed + * in the same base as the twist/wrench and points from the + * old reference point to the new reference point. + * \endverbatim + * + * \par Complexity + * Sometimes the amount of work is given in the documentation + * e.g. 6M+3A means 6 multiplications and 3 additions. + * + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + ****************************************************************************/ +#ifndef KDL_FRAMES_H +#define KDL_FRAMES_H + + +#include "utilities/kdl-config.h" +#include "utilities/utility.h" + +///////////////////////////////////////////////////////////// + +namespace KDL { + + + +class Vector; +class Rotation; +class Frame; +class Wrench; +class Twist; +class Vector2; +class Rotation2; +class Frame2; + + + +/** + * \brief A concrete implementation of a 3 dimensional vector class + */ +class Vector +{ +public: + double data[3]; + //! Does not initialise the Vector to zero. use Vector::Zero() or SetToZero for that + inline Vector() {data[0]=data[1]=data[2] = 0.0;} + + //! Constructs a vector out of the three values x, y and z + inline Vector(double x,double y, double z); + + //! Constructs a vector out of an array of three values x, y and z + inline Vector(double* xyz); + + //! Constructs a vector out of an array of three values x, y and z + inline Vector(float* xyz); + + //! Assignment operator. The normal copy by value semantics. + inline Vector(const Vector& arg); + + //! store vector components in array + inline void GetValue(double* xyz) const; + + //! Assignment operator. The normal copy by value semantics. + inline Vector& operator = ( const Vector& arg); + + //! Access to elements, range checked when NDEBUG is not set, from 0..2 + inline double operator()(int index) const; + + //! Access to elements, range checked when NDEBUG is not set, from 0..2 + inline double& operator() (int index); + + //! Equivalent to double operator()(int index) const + double operator[] ( int index ) const + { + return this->operator() ( index ); + } + + //! Equivalent to double& operator()(int index) + double& operator[] ( int index ) + { + return this->operator() ( index ); + } + + inline double x() const; + inline double y() const; + inline double z() const; + inline void x(double); + inline void y(double); + inline void z(double); + + //! Reverses the sign of the Vector object itself + inline void ReverseSign(); + + + //! subtracts a vector from the Vector object itself + inline Vector& operator-=(const Vector& arg); + + + //! Adds a vector from the Vector object itself + inline Vector& operator +=(const Vector& arg); + + //! Scalar multiplication is defined + inline friend Vector operator*(const Vector& lhs,double rhs); + //! Scalar multiplication is defined + inline friend Vector operator*(double lhs,const Vector& rhs); + //! Scalar division is defined + + inline friend Vector operator/(const Vector& lhs,double rhs); + inline friend Vector operator+(const Vector& lhs,const Vector& rhs); + inline friend Vector operator-(const Vector& lhs,const Vector& rhs); + inline friend Vector operator*(const Vector& lhs,const Vector& rhs); + inline friend Vector operator-(const Vector& arg); + inline friend double dot(const Vector& lhs,const Vector& rhs); + + //! To have a uniform operator to put an element to zero, for scalar values + //! and for objects. + inline friend void SetToZero(Vector& v); + + //! @return a zero vector + inline static Vector Zero(); + + /** Normalizes this vector and returns it norm + * makes v a unitvector and returns the norm of v. + * if v is smaller than eps, Vector(1,0,0) is returned with norm 0. + * if this is not good, check the return value of this method. + */ + double Normalize(double eps=epsilon); + + //! @return the norm of the vector + double Norm() const; + + + + //! a 3D vector where the 2D vector v is put in the XY plane + inline void Set2DXY(const Vector2& v); + //! a 3D vector where the 2D vector v is put in the YZ plane + inline void Set2DYZ(const Vector2& v); + //! a 3D vector where the 2D vector v is put in the ZX plane + inline void Set2DZX(const Vector2& v); + //! a 3D vector where the 2D vector v_XY is put in the XY plane of the frame F_someframe_XY. + inline void Set2DPlane(const Frame& F_someframe_XY,const Vector2& v_XY); + + + //! do not use operator == because the definition of Equal(.,.) is slightly + //! different. It compares whether the 2 arguments are equal in an eps-interval + inline friend bool Equal(const Vector& a,const Vector& b,double eps=epsilon); + + //! return a normalized vector + inline friend Vector Normalize(const Vector& a, double eps=epsilon); + + //! The literal equality operator==(), also identical. + inline friend bool operator==(const Vector& a,const Vector& b); + //! The literal inequality operator!=(). + inline friend bool operator!=(const Vector& a,const Vector& b); + + friend class Rotation; + friend class Frame; +}; + + +/** + \brief represents rotations in 3 dimensional space. + + This class represents a rotation matrix with the following + conventions : + \verbatim + Suppose V2 = R*V, (1) + V is expressed in frame B + V2 is expressed in frame A + This matrix R consists of 3 collumns [ X,Y,Z ], + X,Y, and Z contain the axes of frame B, expressed in frame A + Because of linearity expr(1) is valid. + \endverbatim + This class only represents rotational_interpolation, not translation + Two interpretations are possible for rotation angles. + * if you rotate with angle around X frame A to have frame B, + then the result of SetRotX is equal to frame B expressed wrt A. + In code: + \verbatim + Rotation R; + F_A_B = R.SetRotX(angle); + \endverbatim + * Secondly, if you take the following code : + \verbatim + Vector p,p2; Rotation R; + R.SetRotX(angle); + p2 = R*p; + \endverbatim + then the frame p2 is rotated around X axis with (-angle). + Analogue reasonings can be applyd to SetRotY,SetRotZ,SetRot + \par type + Concrete implementation +*/ +class Rotation +{ +public: + double data[9]; + + inline Rotation() { + *this = Rotation::Identity(); + } + inline Rotation(double Xx,double Yx,double Zx, + double Xy,double Yy,double Zy, + double Xz,double Yz,double Zz); + inline Rotation(const Vector& x,const Vector& y,const Vector& z); + // default copy constructor is sufficient + + inline void setValue(float* oglmat); + inline void getValue(float* oglmat) const; + + inline Rotation& operator=(const Rotation& arg); + + //! Defines a multiplication R*V between a Rotation R and a Vector V. + //! Complexity : 9M+6A + inline Vector operator*(const Vector& v) const; + + //! Access to elements 0..2,0..2, bounds are checked when NDEBUG is not set + inline double& operator()(int i,int j); + + //! Access to elements 0..2,0..2, bounds are checked when NDEBUG is not set + inline double operator() (int i,int j) const; + + friend Rotation operator *(const Rotation& lhs,const Rotation& rhs); + + //! Sets the value of *this to its inverse. + inline void SetInverse(); + + //! Gives back the inverse rotation matrix of *this. + inline Rotation Inverse() const; + + //! The same as R.Inverse()*v but more efficient. + inline Vector Inverse(const Vector& v) const; + + //! The same as R.Inverse()*arg but more efficient. + inline Wrench Inverse(const Wrench& arg) const; + + //! The same as R.Inverse()*arg but more efficient. + inline Twist Inverse(const Twist& arg) const; + + //! Gives back an identity rotaton matrix + inline static Rotation Identity(); + + +// = Rotations + //! The Rot... static functions give the value of the appropriate rotation matrix back. + inline static Rotation RotX(double angle); + //! The Rot... static functions give the value of the appropriate rotation matrix back. + inline static Rotation RotY(double angle); + //! The Rot... static functions give the value of the appropriate rotation matrix back. + inline static Rotation RotZ(double angle); + //! The DoRot... functions apply a rotation R to *this,such that *this = *this * Rot.. + //! DoRot... functions are only defined when they can be executed more efficiently + inline void DoRotX(double angle); + //! The DoRot... functions apply a rotation R to *this,such that *this = *this * Rot.. + //! DoRot... functions are only defined when they can be executed more efficiently + inline void DoRotY(double angle); + //! The DoRot... functions apply a rotation R to *this,such that *this = *this * Rot.. + //! DoRot... functions are only defined when they can be executed more efficiently + inline void DoRotZ(double angle); + + //! Along an arbitrary axes. It is not necessary to normalize rotaxis. + //! returns identity rotation matrix in the case that the norm of rotaxis + //! is to small to be used. + // @see Rot2 if you want to handle this error in another way. + static Rotation Rot(const Vector& rotaxis,double angle); + + //! Along an arbitrary axes. rotvec should be normalized. + static Rotation Rot2(const Vector& rotvec,double angle); + + // make sure the matrix is a pure rotation (no scaling) + void Ortho(); + + //! Returns a vector with the direction of the equiv. axis + //! and its norm is angle + Vector GetRot() const; + + //! Returns a 2D vector representing the equivalent rotation in the XZ plane that brings the + //! Y axis onto the Matrix Y axis and its norm is angle + Vector2 GetXZRot() const; + + /** Returns the rotation angle around the equiv. axis + * @param axis the rotation axis is returned in this variable + * @param eps : in the case of angle == 0 : rot axis is undefined and choosen + * to be +/- Z-axis + * in the case of angle == PI : 2 solutions, positive Z-component + * of the axis is choosen. + * @result returns the rotation angle (between [0..PI] ) + */ + double GetRotAngle(Vector& axis,double eps=epsilon) const; + + + //! Gives back a rotation matrix specified with EulerZYZ convention : + //! First rotate around Z with alfa, + //! then around the new Y with beta, then around + //! new Z with gamma. + static Rotation EulerZYZ(double Alfa,double Beta,double Gamma); + + //! Gives back the EulerZYZ convention description of the rotation matrix : + //! First rotate around Z with alfa, + //! then around the new Y with beta, then around + //! new Z with gamma. + //! + //! Variables are bound by + //! (-PI <= alfa <= PI), + //! (0 <= beta <= PI), + //! (-PI <= alfa <= PI) + void GetEulerZYZ(double& alfa,double& beta,double& gamma) const; + + + //! Sets the value of this object to a rotation specified with RPY convention: + //! first rotate around X with roll, then around the + //! old Y with pitch, then around old Z with alfa + static Rotation RPY(double roll,double pitch,double yaw); + + //! Gives back a vector in RPY coordinates, variables are bound by + //! -PI <= roll <= PI + //! -PI <= Yaw <= PI + //! -PI/2 <= PITCH <= PI/2 + //! + //! convention : first rotate around X with roll, then around the + //! old Y with pitch, then around old Z with alfa + void GetRPY(double& roll,double& pitch,double& yaw) const; + + + //! Gives back a rotation matrix specified with EulerZYX convention : + //! First rotate around Z with alfa, + //! then around the new Y with beta, then around + //! new X with gamma. + //! + //! closely related to RPY-convention + inline static Rotation EulerZYX(double Alfa,double Beta,double Gamma) { + return RPY(Gamma,Beta,Alfa); + } + + //! GetEulerZYX gets the euler ZYX parameters of a rotation : + //! First rotate around Z with alfa, + //! then around the new Y with beta, then around + //! new X with gamma. + //! + //! Range of the results of GetEulerZYX : + //! -PI <= alfa <= PI + //! -PI <= gamma <= PI + //! -PI/2 <= beta <= PI/2 + //! + //! Closely related to RPY-convention. + inline void GetEulerZYX(double& Alfa,double& Beta,double& Gamma) const { + GetRPY(Gamma,Beta,Alfa); + } + + //! Transformation of the base to which the twist is expressed. + //! Complexity : 18M+12A + //! @see Frame*Twist for a transformation that also transforms + //! the velocity reference point. + inline Twist operator * (const Twist& arg) const; + + //! Transformation of the base to which the wrench is expressed. + //! Complexity : 18M+12A + //! @see Frame*Wrench for a transformation that also transforms + //! the force reference point. + inline Wrench operator * (const Wrench& arg) const; + + //! Access to the underlying unitvectors of the rotation matrix + inline Vector UnitX() const { + return Vector(data[0],data[3],data[6]); + } + + //! Access to the underlying unitvectors of the rotation matrix + inline void UnitX(const Vector& X) { + data[0] = X(0); + data[3] = X(1); + data[6] = X(2); + } + + //! Access to the underlying unitvectors of the rotation matrix + inline Vector UnitY() const { + return Vector(data[1],data[4],data[7]); + } + + //! Access to the underlying unitvectors of the rotation matrix + inline void UnitY(const Vector& X) { + data[1] = X(0); + data[4] = X(1); + data[7] = X(2); + } + + //! Access to the underlying unitvectors of the rotation matrix + inline Vector UnitZ() const { + return Vector(data[2],data[5],data[8]); + } + + //! Access to the underlying unitvectors of the rotation matrix + inline void UnitZ(const Vector& X) { + data[2] = X(0); + data[5] = X(1); + data[8] = X(2); + } + + //! do not use operator == because the definition of Equal(.,.) is slightly + //! different. It compares whether the 2 arguments are equal in an eps-interval + friend bool Equal(const Rotation& a,const Rotation& b,double eps=epsilon); + + //! The literal equality operator==(), also identical. + friend bool operator==(const Rotation& a,const Rotation& b); + //! The literal inequality operator!=() + friend bool operator!=(const Rotation& a,const Rotation& b); + + friend class Frame; +}; + bool operator==(const Rotation& a,const Rotation& b); + + + +/** + \brief represents a frame transformation in 3D space (rotation + translation) + + if V2 = Frame*V1 (V2 expressed in frame A, V1 expressed in frame B) + then V2 = Frame.M*V1+Frame.p + + Frame.M contains columns that represent the axes of frame B wrt frame A + Frame.p contains the origin of frame B expressed in frame A. +*/ +class Frame { +public: + Vector p; //!< origine of the Frame + Rotation M; //!< Orientation of the Frame + +public: + + inline Frame(const Rotation& R,const Vector& V); + + //! The rotation matrix defaults to identity + explicit inline Frame(const Vector& V); + //! The position matrix defaults to zero + explicit inline Frame(const Rotation& R); + + inline void setValue(float* oglmat); + inline void getValue(float* oglmat) const; + + inline Frame() {} + //! The copy constructor. Normal copy by value semantics. + inline Frame(const Frame& arg); + + //! Reads data from an double array + //\TODO should be formulated as a constructor + void Make4x4(double* d); + + //! Treats a frame as a 4x4 matrix and returns element i,j + //! Access to elements 0..3,0..3, bounds are checked when NDEBUG is not set + inline double operator()(int i,int j); + + //! Treats a frame as a 4x4 matrix and returns element i,j + //! Access to elements 0..3,0..3, bounds are checked when NDEBUG is not set + inline double operator() (int i,int j) const; + + // = Inverse + //! Gives back inverse transformation of a Frame + inline Frame Inverse() const; + + //! The same as p2=R.Inverse()*p but more efficient. + inline Vector Inverse(const Vector& arg) const; + + //! The same as p2=R.Inverse()*p but more efficient. + inline Wrench Inverse(const Wrench& arg) const; + + //! The same as p2=R.Inverse()*p but more efficient. + inline Twist Inverse(const Twist& arg) const; + + //! Normal copy-by-value semantics. + inline Frame& operator = (const Frame& arg); + + //! Transformation of the base to which the vector + //! is expressed. + inline Vector operator * (const Vector& arg) const; + + //! Transformation of both the force reference point + //! and of the base to which the wrench is expressed. + //! look at Rotation*Wrench operator for a transformation + //! of only the base to which the twist is expressed. + //! + //! Complexity : 24M+18A + inline Wrench operator * (const Wrench& arg) const; + + //! Transformation of both the velocity reference point + //! and of the base to which the twist is expressed. + //! look at Rotation*Twist for a transformation of only the + //! base to which the twist is expressed. + //! + //! Complexity : 24M+18A + inline Twist operator * (const Twist& arg) const; + + //! Composition of two frames. + inline friend Frame operator *(const Frame& lhs,const Frame& rhs); + + //! @return the identity transformation Frame(Rotation::Identity(),Vector::Zero()). + inline static Frame Identity(); + + //! The twist <t_this> is expressed wrt the current + //! frame. This frame is integrated into an updated frame with + //! <samplefrequency>. Very simple first order integration rule. + inline void Integrate(const Twist& t_this,double frequency); + + /* + // DH_Craig1989 : constructs a transformationmatrix + // T_link(i-1)_link(i) with the Denavit-Hartenberg convention as + // described in the Craigs book: Craig, J. J.,Introduction to + // Robotics: Mechanics and Control, Addison-Wesley, + // isbn:0-201-10326-5, 1986. + // + // Note that the frame is a redundant way to express the information + // in the DH-convention. + // \verbatim + // Parameters in full : a(i-1),alpha(i-1),d(i),theta(i) + // + // axis i-1 is connected by link i-1 to axis i numbering axis 1 + // to axis n link 0 (immobile base) to link n + // + // link length a(i-1) length of the mutual perpendicular line + // (normal) between the 2 axes. This normal runs from (i-1) to + // (i) axis. + // + // link twist alpha(i-1): construct plane perpendicular to the + // normal project axis(i-1) and axis(i) into plane angle from + // (i-1) to (i) measured in the direction of the normal + // + // link offset d(i) signed distance between normal (i-1) to (i) + // and normal (i) to (i+1) along axis i joint angle theta(i) + // signed angle between normal (i-1) to (i) and normal (i) to + // (i+1) along axis i + // + // First and last joints : a(0)= a(n) = 0 + // alpha(0) = alpha(n) = 0 + // + // PRISMATIC : theta(1) = 0 d(1) arbitrarily + // + // REVOLUTE : theta(1) arbitrarily d(1) = 0 + // + // Not unique : if intersecting joint axis 2 choices for normal + // Frame assignment of the DH convention : Z(i-1) follows axis + // (i-1) X(i-1) is the normal between axis(i-1) and axis(i) + // Y(i-1) follows out of Z(i-1) and X(i-1) + // + // a(i-1) = distance from Z(i-1) to Z(i) along X(i-1) + // alpha(i-1) = angle between Z(i-1) to Z(i) along X(i-1) + // d(i) = distance from X(i-1) to X(i) along Z(i) + // theta(i) = angle between X(i-1) to X(i) along X(i) + // \endverbatim + */ + static Frame DH_Craig1989(double a,double alpha,double d,double theta); + + // DH : constructs a transformationmatrix T_link(i-1)_link(i) with + // the Denavit-Hartenberg convention as described in the original + // publictation: Denavit, J. and Hartenberg, R. S., A kinematic + // notation for lower-pair mechanisms based on matrices, ASME + // Journal of Applied Mechanics, 23:215-221, 1955. + + static Frame DH(double a,double alpha,double d,double theta); + + + //! do not use operator == because the definition of Equal(.,.) is slightly + //! different. It compares whether the 2 arguments are equal in an eps-interval + inline friend bool Equal(const Frame& a,const Frame& b,double eps=epsilon); + + //! The literal equality operator==(), also identical. + inline friend bool operator==(const Frame& a,const Frame& b); + //! The literal inequality operator!=(). + inline friend bool operator!=(const Frame& a,const Frame& b); +}; + +/** + * \brief represents both translational and rotational velocities. + * + * This class represents a twist. A twist is the combination of translational + * velocity and rotational velocity applied at one point. +*/ +class Twist { +public: + Vector vel; //!< The velocity of that point + Vector rot; //!< The rotational velocity of that point. +public: + + //! The default constructor initialises to Zero via the constructor of Vector. + Twist():vel(),rot() {}; + + Twist(const Vector& _vel,const Vector& _rot):vel(_vel),rot(_rot) {}; + + inline Twist& operator-=(const Twist& arg); + inline Twist& operator+=(const Twist& arg); + //! index-based access to components, first vel(0..2), then rot(3..5) + inline double& operator()(int i); + + //! index-based access to components, first vel(0..2), then rot(3..5) + //! For use with a const Twist + inline double operator()(int i) const; + + double operator[] ( int index ) const + { + return this->operator() ( index ); + } + + double& operator[] ( int index ) + { + return this->operator() ( index ); + } + + inline friend Twist operator*(const Twist& lhs,double rhs); + inline friend Twist operator*(double lhs,const Twist& rhs); + inline friend Twist operator/(const Twist& lhs,double rhs); + inline friend Twist operator+(const Twist& lhs,const Twist& rhs); + inline friend Twist operator-(const Twist& lhs,const Twist& rhs); + inline friend Twist operator-(const Twist& arg); + inline friend double dot(const Twist& lhs,const Wrench& rhs); + inline friend double dot(const Wrench& rhs,const Twist& lhs); + inline friend void SetToZero(Twist& v); + + + //! @return a zero Twist : Twist(Vector::Zero(),Vector::Zero()) + static inline Twist Zero(); + + //! Reverses the sign of the twist + inline void ReverseSign(); + + //! Changes the reference point of the twist. + //! The vector v_base_AB is expressed in the same base as the twist + //! The vector v_base_AB is a vector from the old point to + //! the new point. + //! + //! Complexity : 6M+6A + inline Twist RefPoint(const Vector& v_base_AB) const; + + + //! do not use operator == because the definition of Equal(.,.) is slightly + //! different. It compares whether the 2 arguments are equal in an eps-interval + inline friend bool Equal(const Twist& a,const Twist& b,double eps=epsilon); + + //! The literal equality operator==(), also identical. + inline friend bool operator==(const Twist& a,const Twist& b); + //! The literal inequality operator!=(). + inline friend bool operator!=(const Twist& a,const Twist& b); + +// = Friends + friend class Rotation; + friend class Frame; + +}; + +/** + * \brief represents both translational and rotational acceleration. + * + * This class represents an acceleration twist. A acceleration twist is + * the combination of translational + * acceleration and rotational acceleration applied at one point. +*/ +/* +class AccelerationTwist { +public: + Vector trans; //!< The translational acceleration of that point + Vector rot; //!< The rotational acceleration of that point. +public: + + //! The default constructor initialises to Zero via the constructor of Vector. + AccelerationTwist():trans(),rot() {}; + + AccelerationTwist(const Vector& _trans,const Vector& _rot):trans(_trans),rot(_rot) {}; + + inline AccelerationTwist& operator-=(const AccelerationTwist& arg); + inline AccelerationTwist& operator+=(const AccelerationTwist& arg); + //! index-based access to components, first vel(0..2), then rot(3..5) + inline double& operator()(int i); + + //! index-based access to components, first vel(0..2), then rot(3..5) + //! For use with a const AccelerationTwist + inline double operator()(int i) const; + + double operator[] ( int index ) const + { + return this->operator() ( index ); + } + + double& operator[] ( int index ) + { + return this->operator() ( index ); + } + + inline friend AccelerationTwist operator*(const AccelerationTwist& lhs,double rhs); + inline friend AccelerationTwist operator*(double lhs,const AccelerationTwist& rhs); + inline friend AccelerationTwist operator/(const AccelerationTwist& lhs,double rhs); + inline friend AccelerationTwist operator+(const AccelerationTwist& lhs,const AccelerationTwist& rhs); + inline friend AccelerationTwist operator-(const AccelerationTwist& lhs,const AccelerationTwist& rhs); + inline friend AccelerationTwist operator-(const AccelerationTwist& arg); + //inline friend double dot(const AccelerationTwist& lhs,const Wrench& rhs); + //inline friend double dot(const Wrench& rhs,const AccelerationTwist& lhs); + inline friend void SetToZero(AccelerationTwist& v); + + + //! @return a zero AccelerationTwist : AccelerationTwist(Vector::Zero(),Vector::Zero()) + static inline AccelerationTwist Zero(); + + //! Reverses the sign of the AccelerationTwist + inline void ReverseSign(); + + //! Changes the reference point of the AccelerationTwist. + //! The vector v_base_AB is expressed in the same base as the AccelerationTwist + //! The vector v_base_AB is a vector from the old point to + //! the new point. + //! + //! Complexity : 6M+6A + inline AccelerationTwist RefPoint(const Vector& v_base_AB) const; + + + //! do not use operator == because the definition of Equal(.,.) is slightly + //! different. It compares whether the 2 arguments are equal in an eps-interval + inline friend bool Equal(const AccelerationTwist& a,const AccelerationTwist& b,double eps=epsilon); + + //! The literal equality operator==(), also identical. + inline friend bool operator==(const AccelerationTwist& a,const AccelerationTwist& b); + //! The literal inequality operator!=(). + inline friend bool operator!=(const AccelerationTwist& a,const AccelerationTwist& b); + +// = Friends + friend class Rotation; + friend class Frame; + +}; +*/ +/** + * \brief represents the combination of a force and a torque. + * + * This class represents a Wrench. A Wrench is the force and torque applied at a point + */ +class Wrench +{ +public: + Vector force; //!< Force that is applied at the origin of the current ref frame + Vector torque; //!< Torque that is applied at the origin of the current ref frame +public: + + //! Does initialise force and torque to zero via the underlying constructor of Vector + Wrench():force(),torque() {}; + Wrench(const Vector& _force,const Vector& _torque):force(_force),torque(_torque) {}; + +// = Operators + inline Wrench& operator-=(const Wrench& arg); + inline Wrench& operator+=(const Wrench& arg); + + //! index-based access to components, first force(0..2), then torque(3..5) + inline double& operator()(int i); + + //! index-based access to components, first force(0..2), then torque(3..5) + //! for use with a const Wrench + inline double operator()(int i) const; + + double operator[] ( int index ) const + { + return this->operator() ( index ); + } + + double& operator[] ( int index ) + { + return this->operator() ( index ); + } + + //! Scalar multiplication + inline friend Wrench operator*(const Wrench& lhs,double rhs); + //! Scalar multiplication + inline friend Wrench operator*(double lhs,const Wrench& rhs); + //! Scalar division + inline friend Wrench operator/(const Wrench& lhs,double rhs); + + inline friend Wrench operator+(const Wrench& lhs,const Wrench& rhs); + inline friend Wrench operator-(const Wrench& lhs,const Wrench& rhs); + + //! An unary - operator + inline friend Wrench operator-(const Wrench& arg); + + //! Sets the Wrench to Zero, to have a uniform function that sets an object or + //! double to zero. + inline friend void SetToZero(Wrench& v); + + //! @return a zero Wrench + static inline Wrench Zero(); + + //! Reverses the sign of the current Wrench + inline void ReverseSign(); + + //! Changes the reference point of the wrench. + //! The vector v_base_AB is expressed in the same base as the twist + //! The vector v_base_AB is a vector from the old point to + //! the new point. + //! + //! Complexity : 6M+6A + inline Wrench RefPoint(const Vector& v_base_AB) const; + + + //! do not use operator == because the definition of Equal(.,.) is slightly + //! different. It compares whether the 2 arguments are equal in an eps-interval + inline friend bool Equal(const Wrench& a,const Wrench& b,double eps=epsilon); + + //! The literal equality operator==(), also identical. + inline friend bool operator==(const Wrench& a,const Wrench& b); + //! The literal inequality operator!=(). + inline friend bool operator!=(const Wrench& a,const Wrench& b); + + friend class Rotation; + friend class Frame; + + +}; + + +//! 2D version of Vector +class Vector2 +{ + double data[2]; +public: + //! Does not initialise to Zero(). + Vector2() {data[0]=data[1] = 0.0;} + inline Vector2(double x,double y); + inline Vector2(const Vector2& arg); + inline Vector2(double* xyz); + inline Vector2(float* xyz); + + inline Vector2& operator = ( const Vector2& arg); + + //! Access to elements, range checked when NDEBUG is not set, from 0..1 + inline double operator()(int index) const; + + //! Access to elements, range checked when NDEBUG is not set, from 0..1 + inline double& operator() (int index); + + //! store vector components in array + inline void GetValue(double* xy) const; + + inline void ReverseSign(); + inline Vector2& operator-=(const Vector2& arg); + inline Vector2& operator +=(const Vector2& arg); + + + inline friend Vector2 operator*(const Vector2& lhs,double rhs); + inline friend Vector2 operator*(double lhs,const Vector2& rhs); + inline friend Vector2 operator/(const Vector2& lhs,double rhs); + inline friend Vector2 operator+(const Vector2& lhs,const Vector2& rhs); + inline friend Vector2 operator-(const Vector2& lhs,const Vector2& rhs); + inline friend Vector2 operator*(const Vector2& lhs,const Vector2& rhs); + inline friend Vector2 operator-(const Vector2& arg); + inline friend void SetToZero(Vector2& v); + + //! @return a zero 2D vector. + inline static Vector2 Zero(); + + /** Normalizes this vector and returns it norm + * makes v a unitvector and returns the norm of v. + * if v is smaller than eps, Vector(1,0,0) is returned with norm 0. + * if this is not good, check the return value of this method. + */ + double Normalize(double eps=epsilon); + + //! @return the norm of the vector + inline double Norm() const; + + //! projects v in its XY plane, and sets *this to these values + inline void Set3DXY(const Vector& v); + + //! projects v in its YZ plane, and sets *this to these values + inline void Set3DYZ(const Vector& v); + + //! projects v in its ZX plane, and sets *this to these values + inline void Set3DZX(const Vector& v); + + //! projects v_someframe in the XY plane of F_someframe_XY, + //! and sets *this to these values + //! expressed wrt someframe. + inline void Set3DPlane(const Frame& F_someframe_XY,const Vector& v_someframe); + + + //! do not use operator == because the definition of Equal(.,.) is slightly + //! different. It compares whether the 2 arguments are equal in an eps-interval + inline friend bool Equal(const Vector2& a,const Vector2& b,double eps=epsilon); + + friend class Rotation2; +}; + + +//! A 2D Rotation class, for conventions see Rotation. For further documentation +//! of the methods see Rotation class. +class Rotation2 +{ + double s,c; + //! c,s represent cos(angle), sin(angle), this also represents first col. of rot matrix + //! from outside, this class behaves as if it would store the complete 2x2 matrix. +public: + //! Default constructor does NOT initialise to Zero(). + Rotation2() {c=1.0;s=0.0;} + + explicit Rotation2(double angle_rad):s(sin(angle_rad)),c(cos(angle_rad)) {} + + Rotation2(double ca,double sa):s(sa),c(ca){} + + inline Rotation2& operator=(const Rotation2& arg); + inline Vector2 operator*(const Vector2& v) const; + //! Access to elements 0..1,0..1, bounds are checked when NDEBUG is not set + inline double operator() (int i,int j) const; + + inline friend Rotation2 operator *(const Rotation2& lhs,const Rotation2& rhs); + + inline void SetInverse(); + inline Rotation2 Inverse() const; + inline Vector2 Inverse(const Vector2& v) const; + + inline void SetIdentity(); + inline static Rotation2 Identity(); + + + //! The SetRot.. functions set the value of *this to the appropriate rotation matrix. + inline void SetRot(double angle); + + //! The Rot... static functions give the value of the appropriate rotation matrix bac + inline static Rotation2 Rot(double angle); + + //! Gets the angle (in radians) + inline double GetRot() const; + + //! do not use operator == because the definition of Equal(.,.) is slightly + //! different. It compares whether the 2 arguments are equal in an eps-interval + inline friend bool Equal(const Rotation2& a,const Rotation2& b,double eps=epsilon); +}; + +//! A 2D frame class, for further documentation see the Frames class +//! for methods with unchanged semantics. +class Frame2 + { +public: + Vector2 p; //!< origine of the Frame + Rotation2 M; //!< Orientation of the Frame + +public: + + inline Frame2(const Rotation2& R,const Vector2& V); + explicit inline Frame2(const Vector2& V); + explicit inline Frame2(const Rotation2& R); + inline Frame2(void); + inline Frame2(const Frame2& arg); + inline void Make4x4(double* d); + + //! Treats a frame as a 3x3 matrix and returns element i,j + //! Access to elements 0..2,0..2, bounds are checked when NDEBUG is not set + inline double operator()(int i,int j); + + //! Treats a frame as a 4x4 matrix and returns element i,j + //! Access to elements 0..3,0..3, bounds are checked when NDEBUG is not set + inline double operator() (int i,int j) const; + + inline void SetInverse(); + inline Frame2 Inverse() const; + inline Vector2 Inverse(const Vector2& arg) const; + inline Frame2& operator = (const Frame2& arg); + inline Vector2 operator * (const Vector2& arg); + inline friend Frame2 operator *(const Frame2& lhs,const Frame2& rhs); + inline void SetIdentity(); + inline void Integrate(const Twist& t_this,double frequency); + inline static Frame2 Identity() { + Frame2 tmp; + tmp.SetIdentity(); + return tmp; + } + inline friend bool Equal(const Frame2& a,const Frame2& b,double eps=epsilon); +}; + +IMETHOD Vector diff(const Vector& a,const Vector& b,double dt=1); +IMETHOD Vector diff(const Rotation& R_a_b1,const Rotation& R_a_b2,double dt=1); +IMETHOD Twist diff(const Frame& F_a_b1,const Frame& F_a_b2,double dt=1); +IMETHOD Twist diff(const Twist& a,const Twist& b,double dt=1); +IMETHOD Wrench diff(const Wrench& W_a_p1,const Wrench& W_a_p2,double dt=1); +IMETHOD Vector addDelta(const Vector& a,const Vector&da,double dt=1); +IMETHOD Rotation addDelta(const Rotation& a,const Vector&da,double dt=1); +IMETHOD Frame addDelta(const Frame& a,const Twist& da,double dt=1); +IMETHOD Twist addDelta(const Twist& a,const Twist&da,double dt=1); +IMETHOD Wrench addDelta(const Wrench& a,const Wrench&da,double dt=1); +#ifdef KDL_INLINE +// #include "vector.inl" +// #include "wrench.inl" + //#include "rotation.inl" + //#include "frame.inl" + //#include "twist.inl" + //#include "vector2.inl" + //#include "rotation2.inl" + //#include "frame2.inl" +#include "frames.inl" +#endif + + + +} + + +#endif diff --git a/intern/itasc/kdl/frames.inl b/intern/itasc/kdl/frames.inl new file mode 100644 index 00000000000..9a176070171 --- /dev/null +++ b/intern/itasc/kdl/frames.inl @@ -0,0 +1,1390 @@ +/*************************************************************************** + frames.inl - description + ------------------------- + begin : June 2006 + copyright : (C) 2006 Erwin Aertbelien + email : firstname.lastname@mech.kuleuven.ac.be + + History (only major changes)( AUTHOR-Description ) : + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU Lesser General Public * + * License as published by the Free Software Foundation; either * + * version 2.1 of the License, or (at your option) any later version. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU Lesser General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + +IMETHOD Vector::Vector(const Vector & arg) +{ + data[0] = arg.data[0]; + data[1] = arg.data[1]; + data[2] = arg.data[2]; +} + +IMETHOD Vector::Vector(double x,double y, double z) +{ + data[0]=x;data[1]=y;data[2]=z; +} + +IMETHOD Vector::Vector(double* xyz) +{ + data[0]=xyz[0];data[1]=xyz[1];data[2]=xyz[2]; +} + +IMETHOD Vector::Vector(float* xyz) +{ + data[0]=xyz[0];data[1]=xyz[1];data[2]=xyz[2]; +} + +IMETHOD void Vector::GetValue(double* xyz) const +{ + xyz[0]=data[0];xyz[1]=data[1];xyz[2]=data[2]; +} + + +IMETHOD Vector& Vector::operator =(const Vector & arg) +{ + data[0] = arg.data[0]; + data[1] = arg.data[1]; + data[2] = arg.data[2]; + return *this; +} + +IMETHOD Vector operator +(const Vector & lhs,const Vector& rhs) +{ + Vector tmp; + tmp.data[0] = lhs.data[0]+rhs.data[0]; + tmp.data[1] = lhs.data[1]+rhs.data[1]; + tmp.data[2] = lhs.data[2]+rhs.data[2]; + return tmp; +} + +IMETHOD Vector operator -(const Vector & lhs,const Vector& rhs) +{ + Vector tmp; + tmp.data[0] = lhs.data[0]-rhs.data[0]; + tmp.data[1] = lhs.data[1]-rhs.data[1]; + tmp.data[2] = lhs.data[2]-rhs.data[2]; + return tmp; +} + +IMETHOD double Vector::x() const { return data[0]; } +IMETHOD double Vector::y() const { return data[1]; } +IMETHOD double Vector::z() const { return data[2]; } + +IMETHOD void Vector::x( double _x ) { data[0] = _x; } +IMETHOD void Vector::y( double _y ) { data[1] = _y; } +IMETHOD void Vector::z( double _z ) { data[2] = _z; } + +Vector operator *(const Vector& lhs,double rhs) +{ + Vector tmp; + tmp.data[0] = lhs.data[0]*rhs; + tmp.data[1] = lhs.data[1]*rhs; + tmp.data[2] = lhs.data[2]*rhs; + return tmp; +} + +Vector operator *(double lhs,const Vector& rhs) +{ + Vector tmp; + tmp.data[0] = lhs*rhs.data[0]; + tmp.data[1] = lhs*rhs.data[1]; + tmp.data[2] = lhs*rhs.data[2]; + return tmp; +} + +Vector operator /(const Vector& lhs,double rhs) +{ + Vector tmp; + tmp.data[0] = lhs.data[0]/rhs; + tmp.data[1] = lhs.data[1]/rhs; + tmp.data[2] = lhs.data[2]/rhs; + return tmp; +} + +Vector operator *(const Vector & lhs,const Vector& rhs) +// Complexity : 6M+3A +{ + Vector tmp; + tmp.data[0] = lhs.data[1]*rhs.data[2]-lhs.data[2]*rhs.data[1]; + tmp.data[1] = lhs.data[2]*rhs.data[0]-lhs.data[0]*rhs.data[2]; + tmp.data[2] = lhs.data[0]*rhs.data[1]-lhs.data[1]*rhs.data[0]; + return tmp; +} + +Vector& Vector::operator +=(const Vector & arg) +// Complexity : 3A +{ + data[0]+=arg.data[0]; + data[1]+=arg.data[1]; + data[2]+=arg.data[2]; + return *this; +} + +Vector& Vector::operator -=(const Vector & arg) +// Complexity : 3A +{ + data[0]-=arg.data[0]; + data[1]-=arg.data[1]; + data[2]-=arg.data[2]; + return *this; +} + +Vector Vector::Zero() +{ + return Vector(0,0,0); +} + +double Vector::operator()(int index) const { + FRAMES_CHECKI((0<=index)&&(index<=2)); + return data[index]; +} + +double& Vector::operator () (int index) +{ + FRAMES_CHECKI((0<=index)&&(index<=2)); + return data[index]; +} + +IMETHOD Vector Normalize(const Vector& a, double eps) +{ + double l=a.Norm(); + return (l<eps) ? Vector(0.0,0.0,0.0) : a/l; +} + +Wrench Frame::operator * (const Wrench& arg) const +// Complexity : 24M+18A +{ + Wrench tmp; + tmp.force = M*arg.force; + tmp.torque = M*arg.torque + p*tmp.force; + return tmp; +} + +Wrench Frame::Inverse(const Wrench& arg) const +{ + Wrench tmp; + tmp.force = M.Inverse(arg.force); + tmp.torque = M.Inverse(arg.torque-p*arg.force); + return tmp; +} + + + +Wrench Rotation::Inverse(const Wrench& arg) const +{ + return Wrench(Inverse(arg.force),Inverse(arg.torque)); +} + +Twist Rotation::Inverse(const Twist& arg) const +{ + return Twist(Inverse(arg.vel),Inverse(arg.rot)); +} + +Wrench Wrench::Zero() +{ + return Wrench(Vector::Zero(),Vector::Zero()); +} + + +void Wrench::ReverseSign() +{ + torque.ReverseSign(); + force.ReverseSign(); +} + +Wrench Wrench::RefPoint(const Vector& v_base_AB) const + // Changes the reference point of the Wrench. + // The vector v_base_AB is expressed in the same base as the twist + // The vector v_base_AB is a vector from the old point to + // the new point. +{ + return Wrench(this->force, + this->torque+this->force*v_base_AB + ); +} + + +Wrench& Wrench::operator-=(const Wrench& arg) +{ + torque-=arg.torque; + force -=arg.force; + return *this; +} + +Wrench& Wrench::operator+=(const Wrench& arg) +{ + torque+=arg.torque; + force +=arg.force; + return *this; +} + +double& Wrench::operator()(int i) +{ + // assert((0<=i)&&(i<6)); done by underlying routines + if (i<3) + return force(i); + else + return torque(i-3); +} + +double Wrench::operator()(int i) const +{ + // assert((0<=i)&&(i<6)); done by underlying routines + if (i<3) + return force(i); + else + return torque(i-3); +} + + +Wrench operator*(const Wrench& lhs,double rhs) +{ + return Wrench(lhs.force*rhs,lhs.torque*rhs); +} + +Wrench operator*(double lhs,const Wrench& rhs) +{ + return Wrench(lhs*rhs.force,lhs*rhs.torque); +} + +Wrench operator/(const Wrench& lhs,double rhs) +{ + return Wrench(lhs.force/rhs,lhs.torque/rhs); +} + +// addition of Wrench's +Wrench operator+(const Wrench& lhs,const Wrench& rhs) +{ + return Wrench(lhs.force+rhs.force,lhs.torque+rhs.torque); +} + +Wrench operator-(const Wrench& lhs,const Wrench& rhs) +{ + return Wrench(lhs.force-rhs.force,lhs.torque-rhs.torque); +} + +// unary - +Wrench operator-(const Wrench& arg) +{ + return Wrench(-arg.force,-arg.torque); +} + +Twist Frame::operator * (const Twist& arg) const +// Complexity : 24M+18A +{ + Twist tmp; + tmp.rot = M*arg.rot; + tmp.vel = M*arg.vel+p*tmp.rot; + return tmp; +} +Twist Frame::Inverse(const Twist& arg) const +{ + Twist tmp; + tmp.rot = M.Inverse(arg.rot); + tmp.vel = M.Inverse(arg.vel-p*arg.rot); + return tmp; +} + +Twist Twist::Zero() +{ + return Twist(Vector::Zero(),Vector::Zero()); +} + + +void Twist::ReverseSign() +{ + vel.ReverseSign(); + rot.ReverseSign(); +} + +Twist Twist::RefPoint(const Vector& v_base_AB) const + // Changes the reference point of the twist. + // The vector v_base_AB is expressed in the same base as the twist + // The vector v_base_AB is a vector from the old point to + // the new point. + // Complexity : 6M+6A +{ + return Twist(this->vel+this->rot*v_base_AB,this->rot); +} + +Twist& Twist::operator-=(const Twist& arg) +{ + vel-=arg.vel; + rot -=arg.rot; + return *this; +} + +Twist& Twist::operator+=(const Twist& arg) +{ + vel+=arg.vel; + rot +=arg.rot; + return *this; +} + +double& Twist::operator()(int i) +{ + // assert((0<=i)&&(i<6)); done by underlying routines + if (i<3) + return vel(i); + else + return rot(i-3); +} + +double Twist::operator()(int i) const +{ + // assert((0<=i)&&(i<6)); done by underlying routines + if (i<3) + return vel(i); + else + return rot(i-3); +} + + +Twist operator*(const Twist& lhs,double rhs) +{ + return Twist(lhs.vel*rhs,lhs.rot*rhs); +} + +Twist operator*(double lhs,const Twist& rhs) +{ + return Twist(lhs*rhs.vel,lhs*rhs.rot); +} + +Twist operator/(const Twist& lhs,double rhs) +{ + return Twist(lhs.vel/rhs,lhs.rot/rhs); +} + +// addition of Twist's +Twist operator+(const Twist& lhs,const Twist& rhs) +{ + return Twist(lhs.vel+rhs.vel,lhs.rot+rhs.rot); +} + +Twist operator-(const Twist& lhs,const Twist& rhs) +{ + return Twist(lhs.vel-rhs.vel,lhs.rot-rhs.rot); +} + +// unary - +Twist operator-(const Twist& arg) +{ + return Twist(-arg.vel,-arg.rot); +} + +Frame::Frame(const Rotation & R) +{ + M=R; + p=Vector::Zero(); +} + +Frame::Frame(const Vector & V) +{ + M = Rotation::Identity(); + p = V; +} + +Frame::Frame(const Rotation & R, const Vector & V) +{ + M = R; + p = V; +} + + Frame operator *(const Frame& lhs,const Frame& rhs) +// Complexity : 36M+36A +{ + return Frame(lhs.M*rhs.M,lhs.M*rhs.p+lhs.p); +} + +Vector Frame::operator *(const Vector & arg) const +{ + return M*arg+p; +} + +Vector Frame::Inverse(const Vector& arg) const +{ + return M.Inverse(arg-p); +} + +Frame Frame::Inverse() const +{ + return Frame(M.Inverse(),-M.Inverse(p)); +} + + +Frame& Frame::operator =(const Frame & arg) +{ + M = arg.M; + p = arg.p; + return *this; +} + +Frame::Frame(const Frame & arg) : + p(arg.p),M(arg.M) +{} + + +void Vector::ReverseSign() +{ + data[0] = -data[0]; + data[1] = -data[1]; + data[2] = -data[2]; +} + + + +Vector operator-(const Vector & arg) +{ + Vector tmp; + tmp.data[0]=-arg.data[0]; + tmp.data[1]=-arg.data[1]; + tmp.data[2]=-arg.data[2]; + return tmp; +} + +void Vector::Set2DXY(const Vector2& v) +// a 3D vector where the 2D vector v is put in the XY plane +{ + data[0]=v(0); + data[1]=v(1); + data[2]=0; + +} +void Vector::Set2DYZ(const Vector2& v) +// a 3D vector where the 2D vector v is put in the YZ plane +{ + data[1]=v(0); + data[2]=v(1); + data[0]=0; + +} + +void Vector::Set2DZX(const Vector2& v) +// a 3D vector where the 2D vector v is put in the ZX plane +{ + data[2]=v(0); + data[0]=v(1); + data[1]=0; + +} + + + + + +double& Rotation::operator()(int i,int j) { + FRAMES_CHECKI((0<=i)&&(i<=2)&&(0<=j)&&(j<=2)); + return data[i*3+j]; +} + +double Rotation::operator()(int i,int j) const { + FRAMES_CHECKI((0<=i)&&(i<=2)&&(0<=j)&&(j<=2)); + return data[i*3+j]; +} + +Rotation::Rotation( double Xx,double Yx,double Zx, + double Xy,double Yy,double Zy, + double Xz,double Yz,double Zz) +{ + data[0] = Xx;data[1]=Yx;data[2]=Zx; + data[3] = Xy;data[4]=Yy;data[5]=Zy; + data[6] = Xz;data[7]=Yz;data[8]=Zz; +} + + +Rotation::Rotation(const Vector& x,const Vector& y,const Vector& z) +{ + data[0] = x.data[0];data[3] = x.data[1];data[6] = x.data[2]; + data[1] = y.data[0];data[4] = y.data[1];data[7] = y.data[2]; + data[2] = z.data[0];data[5] = z.data[1];data[8] = z.data[2]; +} + +Rotation& Rotation::operator=(const Rotation& arg) { + int count=9; + while (count--) data[count] = arg.data[count]; + return *this; +} + +Vector Rotation::operator*(const Vector& v) const { +// Complexity : 9M+6A + return Vector( + data[0]*v.data[0] + data[1]*v.data[1] + data[2]*v.data[2], + data[3]*v.data[0] + data[4]*v.data[1] + data[5]*v.data[2], + data[6]*v.data[0] + data[7]*v.data[1] + data[8]*v.data[2] + ); +} + +Twist Rotation::operator * (const Twist& arg) const + // Transformation of the base to which the twist is expressed. + // look at Frame*Twist for a transformation that also transforms + // the velocity reference point. + // Complexity : 18M+12A +{ + return Twist((*this)*arg.vel,(*this)*arg.rot); +} + +Wrench Rotation::operator * (const Wrench& arg) const + // Transformation of the base to which the wrench is expressed. + // look at Frame*Twist for a transformation that also transforms + // the force reference point. +{ + return Wrench((*this)*arg.force,(*this)*arg.torque); +} + +Rotation Rotation::Identity() { + return Rotation(1,0,0,0,1,0,0,0,1); +} +// *this = *this * ROT(X,angle) +void Rotation::DoRotX(double angle) +{ + double cs = cos(angle); + double sn = sin(angle); + double x1,x2,x3; + x1 = cs* (*this)(0,1) + sn* (*this)(0,2); + x2 = cs* (*this)(1,1) + sn* (*this)(1,2); + x3 = cs* (*this)(2,1) + sn* (*this)(2,2); + (*this)(0,2) = -sn* (*this)(0,1) + cs* (*this)(0,2); + (*this)(1,2) = -sn* (*this)(1,1) + cs* (*this)(1,2); + (*this)(2,2) = -sn* (*this)(2,1) + cs* (*this)(2,2); + (*this)(0,1) = x1; + (*this)(1,1) = x2; + (*this)(2,1) = x3; +} + +void Rotation::DoRotY(double angle) +{ + double cs = cos(angle); + double sn = sin(angle); + double x1,x2,x3; + x1 = cs* (*this)(0,0) - sn* (*this)(0,2); + x2 = cs* (*this)(1,0) - sn* (*this)(1,2); + x3 = cs* (*this)(2,0) - sn* (*this)(2,2); + (*this)(0,2) = sn* (*this)(0,0) + cs* (*this)(0,2); + (*this)(1,2) = sn* (*this)(1,0) + cs* (*this)(1,2); + (*this)(2,2) = sn* (*this)(2,0) + cs* (*this)(2,2); + (*this)(0,0) = x1; + (*this)(1,0) = x2; + (*this)(2,0) = x3; +} + +void Rotation::DoRotZ(double angle) +{ + double cs = cos(angle); + double sn = sin(angle); + double x1,x2,x3; + x1 = cs* (*this)(0,0) + sn* (*this)(0,1); + x2 = cs* (*this)(1,0) + sn* (*this)(1,1); + x3 = cs* (*this)(2,0) + sn* (*this)(2,1); + (*this)(0,1) = -sn* (*this)(0,0) + cs* (*this)(0,1); + (*this)(1,1) = -sn* (*this)(1,0) + cs* (*this)(1,1); + (*this)(2,1) = -sn* (*this)(2,0) + cs* (*this)(2,1); + (*this)(0,0) = x1; + (*this)(1,0) = x2; + (*this)(2,0) = x3; +} + + +Rotation Rotation::RotX(double angle) { + double cs=cos(angle); + double sn=sin(angle); + return Rotation(1,0,0,0,cs,-sn,0,sn,cs); +} +Rotation Rotation::RotY(double angle) { + double cs=cos(angle); + double sn=sin(angle); + return Rotation(cs,0,sn,0,1,0,-sn,0,cs); +} +Rotation Rotation::RotZ(double angle) { + double cs=cos(angle); + double sn=sin(angle); + return Rotation(cs,-sn,0,sn,cs,0,0,0,1); +} + + + + +void Frame::Integrate(const Twist& t_this,double samplefrequency) +{ + double n = t_this.rot.Norm()/samplefrequency; + if (n<epsilon) { + p += M*(t_this.vel/samplefrequency); + } else { + (*this) = (*this) * + Frame ( Rotation::Rot( t_this.rot, n ), + t_this.vel/samplefrequency + ); + } +} + +Rotation Rotation::Inverse() const +{ + Rotation tmp(*this); + tmp.SetInverse(); + return tmp; +} + +Vector Rotation::Inverse(const Vector& v) const { + return Vector( + data[0]*v.data[0] + data[3]*v.data[1] + data[6]*v.data[2], + data[1]*v.data[0] + data[4]*v.data[1] + data[7]*v.data[2], + data[2]*v.data[0] + data[5]*v.data[1] + data[8]*v.data[2] + ); +} + +void Rotation::setValue(float* oglmat) +{ + data[0] = *oglmat++; data[3] = *oglmat++; data[6] = *oglmat++; oglmat++; + data[1] = *oglmat++; data[4] = *oglmat++; data[7] = *oglmat++; oglmat++; + data[2] = *oglmat++; data[5] = *oglmat++; data[8] = *oglmat; + Ortho(); +} + +void Rotation::getValue(float* oglmat) const +{ + *oglmat++ = (float)data[0]; *oglmat++ = (float)data[3]; *oglmat++ = (float)data[6]; *oglmat++ = 0.f; + *oglmat++ = (float)data[1]; *oglmat++ = (float)data[4]; *oglmat++ = (float)data[7]; *oglmat++ = 0.f; + *oglmat++ = (float)data[2]; *oglmat++ = (float)data[5]; *oglmat++ = (float)data[8]; *oglmat++ = 0.f; + *oglmat++ = 0.f; *oglmat++ = 0.f; *oglmat++ = 0.f; *oglmat = 1.f; +} + +void Rotation::SetInverse() +{ + double tmp; + tmp = data[1];data[1]=data[3];data[3]=tmp; + tmp = data[2];data[2]=data[6];data[6]=tmp; + tmp = data[5];data[5]=data[7];data[7]=tmp; +} + + + + + + + +double Frame::operator()(int i,int j) { + FRAMES_CHECKI((0<=i)&&(i<=3)&&(0<=j)&&(j<=3)); + if (i==3) { + if (j==3) + return 1.0; + else + return 0.0; + } else { + if (j==3) + return p(i); + else + return M(i,j); + + } +} + +double Frame::operator()(int i,int j) const { + FRAMES_CHECKI((0<=i)&&(i<=3)&&(0<=j)&&(j<=3)); + if (i==3) { + if (j==3) + return 1; + else + return 0; + } else { + if (j==3) + return p(i); + else + return M(i,j); + + } +} + + +Frame Frame::Identity() { + return Frame(Rotation::Identity(),Vector::Zero()); +} + + +void Frame::setValue(float* oglmat) +{ + M.setValue(oglmat); + p.data[0] = oglmat[12]; + p.data[1] = oglmat[13]; + p.data[2] = oglmat[14]; +} + +void Frame::getValue(float* oglmat) const +{ + M.getValue(oglmat); + oglmat[12] = (float)p.data[0]; + oglmat[13] = (float)p.data[1]; + oglmat[14] = (float)p.data[2]; +} + +void Vector::Set2DPlane(const Frame& F_someframe_XY,const Vector2& v_XY) +// a 3D vector where the 2D vector v is put in the XY plane of the frame +// F_someframe_XY. +{ +Vector tmp_XY; +tmp_XY.Set2DXY(v_XY); +tmp_XY = F_someframe_XY*(tmp_XY); +} + + + + + + + + + +//============ 2 dimensional version of the frames objects ============= +IMETHOD Vector2::Vector2(const Vector2 & arg) +{ + data[0] = arg.data[0]; + data[1] = arg.data[1]; +} + +IMETHOD Vector2::Vector2(double x,double y) +{ + data[0]=x;data[1]=y; +} + +IMETHOD Vector2::Vector2(double* xy) +{ + data[0]=xy[0];data[1]=xy[1]; +} + +IMETHOD Vector2::Vector2(float* xy) +{ + data[0]=xy[0];data[1]=xy[1]; +} + +IMETHOD Vector2& Vector2::operator =(const Vector2 & arg) +{ + data[0] = arg.data[0]; + data[1] = arg.data[1]; + return *this; +} + +IMETHOD void Vector2::GetValue(double* xy) const +{ + xy[0]=data[0];xy[1]=data[1]; +} + +IMETHOD Vector2 operator +(const Vector2 & lhs,const Vector2& rhs) +{ + return Vector2(lhs.data[0]+rhs.data[0],lhs.data[1]+rhs.data[1]); +} + +IMETHOD Vector2 operator -(const Vector2 & lhs,const Vector2& rhs) +{ + return Vector2(lhs.data[0]-rhs.data[0],lhs.data[1]-rhs.data[1]); +} + +IMETHOD Vector2 operator *(const Vector2& lhs,double rhs) +{ + return Vector2(lhs.data[0]*rhs,lhs.data[1]*rhs); +} + +IMETHOD Vector2 operator *(double lhs,const Vector2& rhs) +{ + return Vector2(lhs*rhs.data[0],lhs*rhs.data[1]); +} + +IMETHOD Vector2 operator /(const Vector2& lhs,double rhs) +{ + return Vector2(lhs.data[0]/rhs,lhs.data[1]/rhs); +} + +IMETHOD Vector2& Vector2::operator +=(const Vector2 & arg) +{ + data[0]+=arg.data[0]; + data[1]+=arg.data[1]; + return *this; +} + +IMETHOD Vector2& Vector2::operator -=(const Vector2 & arg) +{ + data[0]-=arg.data[0]; + data[1]-=arg.data[1]; + return *this; +} + +IMETHOD Vector2 Vector2::Zero() { + return Vector2(0,0); +} + +IMETHOD double Vector2::operator()(int index) const { + FRAMES_CHECKI((0<=index)&&(index<=1)); + return data[index]; +} + +IMETHOD double& Vector2::operator () (int index) +{ + FRAMES_CHECKI((0<=index)&&(index<=1)); + return data[index]; +} +IMETHOD void Vector2::ReverseSign() +{ + data[0] = -data[0]; + data[1] = -data[1]; +} + + +IMETHOD Vector2 operator-(const Vector2 & arg) +{ + return Vector2(-arg.data[0],-arg.data[1]); +} + + +IMETHOD void Vector2::Set3DXY(const Vector& v) +// projects v in its XY plane, and sets *this to these values +{ + data[0]=v(0); + data[1]=v(1); +} +IMETHOD void Vector2::Set3DYZ(const Vector& v) +// projects v in its XY plane, and sets *this to these values +{ + data[0]=v(1); + data[1]=v(2); +} +IMETHOD void Vector2::Set3DZX(const Vector& v) +// projects v in its XY plane, and and sets *this to these values +{ + data[0]=v(2); + data[1]=v(0); +} + +IMETHOD void Vector2::Set3DPlane(const Frame& F_someframe_XY,const Vector& v_someframe) +// projects v in the XY plane of F_someframe_XY, and sets *this to these values +// expressed wrt someframe. +{ + Vector tmp = F_someframe_XY.Inverse(v_someframe); + data[0]=tmp(0); + data[1]=tmp(1); +} + + + +IMETHOD Rotation2& Rotation2::operator=(const Rotation2& arg) { + c=arg.c;s=arg.s; + return *this; +} + +IMETHOD Vector2 Rotation2::operator*(const Vector2& v) const { + return Vector2(v.data[0]*c-v.data[1]*s,v.data[0]*s+v.data[1]*c); +} + +IMETHOD double Rotation2::operator()(int i,int j) const { + FRAMES_CHECKI((0<=i)&&(i<=1)&&(0<=j)&&(j<=1)); + if (i==j) return c; + if (i==0) + return s; + else + return -s; +} + + +IMETHOD Rotation2 operator *(const Rotation2& lhs,const Rotation2& rhs) { + return Rotation2(lhs.c*rhs.c-lhs.s*rhs.s,lhs.s*rhs.c+lhs.c*rhs.s); +} + +IMETHOD void Rotation2::SetInverse() { + s=-s; +} + +IMETHOD Rotation2 Rotation2::Inverse() const { + return Rotation2(c,-s); +} + +IMETHOD Vector2 Rotation2::Inverse(const Vector2& v) const { + return Vector2(v.data[0]*c+v.data[1]*s,-v.data[0]*s+v.data[1]*c); +} + +IMETHOD Rotation2 Rotation2::Identity() { + return Rotation2(1,0); +} + +IMETHOD void Rotation2::SetIdentity() +{ + c = 1; + s = 0; +} + +IMETHOD void Rotation2::SetRot(double angle) { + c=cos(angle);s=sin(angle); +} + +IMETHOD Rotation2 Rotation2::Rot(double angle) { + return Rotation2(cos(angle),sin(angle)); +} + +IMETHOD double Rotation2::GetRot() const { + return atan2(s,c); +} + + +IMETHOD Frame2::Frame2() { +} + +IMETHOD Frame2::Frame2(const Rotation2 & R) +{ + M=R; + p=Vector2::Zero(); +} + +IMETHOD Frame2::Frame2(const Vector2 & V) +{ + M = Rotation2::Identity(); + p = V; +} + +IMETHOD Frame2::Frame2(const Rotation2 & R, const Vector2 & V) +{ + M = R; + p = V; +} + +IMETHOD Frame2 operator *(const Frame2& lhs,const Frame2& rhs) +{ + return Frame2(lhs.M*rhs.M,lhs.M*rhs.p+lhs.p); +} + +IMETHOD Vector2 Frame2::operator *(const Vector2 & arg) +{ + return M*arg+p; +} + +IMETHOD Vector2 Frame2::Inverse(const Vector2& arg) const +{ + return M.Inverse(arg-p); +} + +IMETHOD void Frame2::SetIdentity() +{ + M.SetIdentity(); + p = Vector2::Zero(); +} + +IMETHOD void Frame2::SetInverse() +{ + M.SetInverse(); + p = M*p; + p.ReverseSign(); +} + + +IMETHOD Frame2 Frame2::Inverse() const +{ + Frame2 tmp(*this); + tmp.SetInverse(); + return tmp; +} + +IMETHOD Frame2& Frame2::operator =(const Frame2 & arg) +{ + M = arg.M; + p = arg.p; + return *this; +} + +IMETHOD Frame2::Frame2(const Frame2 & arg) : + p(arg.p), M(arg.M) +{} + + +IMETHOD double Frame2::operator()(int i,int j) { + FRAMES_CHECKI((0<=i)&&(i<=2)&&(0<=j)&&(j<=2)); + if (i==2) { + if (j==2) + return 1; + else + return 0; + } else { + if (j==2) + return p(i); + else + return M(i,j); + + } +} + +IMETHOD double Frame2::operator()(int i,int j) const { + FRAMES_CHECKI((0<=i)&&(i<=2)&&(0<=j)&&(j<=2)); + if (i==2) { + if (j==2) + return 1; + else + return 0; + } else { + if (j==2) + return p(i); + else + return M(i,j); + + } +} + +// Scalar products. + +IMETHOD double dot(const Vector& lhs,const Vector& rhs) { + return rhs(0)*lhs(0)+rhs(1)*lhs(1)+rhs(2)*lhs(2); +} + +IMETHOD double dot(const Twist& lhs,const Wrench& rhs) { + return dot(lhs.vel,rhs.force)+dot(lhs.rot,rhs.torque); +} + +IMETHOD double dot(const Wrench& rhs,const Twist& lhs) { + return dot(lhs.vel,rhs.force)+dot(lhs.rot,rhs.torque); +} + + + + + +// Equality operators + + + +IMETHOD bool Equal(const Vector& a,const Vector& b,double eps) { + return (Equal(a.data[0],b.data[0],eps)&& + Equal(a.data[1],b.data[1],eps)&& + Equal(a.data[2],b.data[2],eps) ); + } + + +IMETHOD bool Equal(const Frame& a,const Frame& b,double eps) { + return (Equal(a.p,b.p,eps)&& + Equal(a.M,b.M,eps) ); +} + +IMETHOD bool Equal(const Wrench& a,const Wrench& b,double eps) { + return (Equal(a.force,b.force,eps)&& + Equal(a.torque,b.torque,eps) ); +} + +IMETHOD bool Equal(const Twist& a,const Twist& b,double eps) { + return (Equal(a.rot,b.rot,eps)&& + Equal(a.vel,b.vel,eps) ); +} + +IMETHOD bool Equal(const Vector2& a,const Vector2& b,double eps) { + return (Equal(a.data[0],b.data[0],eps)&& + Equal(a.data[1],b.data[1],eps) ); + } + +IMETHOD bool Equal(const Rotation2& a,const Rotation2& b,double eps) { + return ( Equal(a.c,b.c,eps) && Equal(a.s,b.s,eps) ); +} + +IMETHOD bool Equal(const Frame2& a,const Frame2& b,double eps) { + return (Equal(a.p,b.p,eps)&& + Equal(a.M,b.M,eps) ); +} + +IMETHOD void SetToZero(Vector& v) { + v=Vector::Zero(); +} +IMETHOD void SetToZero(Twist& v) { + SetToZero(v.rot); + SetToZero(v.vel); +} +IMETHOD void SetToZero(Wrench& v) { + SetToZero(v.force); + SetToZero(v.torque); +} + +IMETHOD void SetToZero(Vector2& v) { + v = Vector2::Zero(); +} + + +//////////////////////////////////////////////////////////////// +// The following defines the operations +// diff +// addDelta +// random +// posrandom +// on all the types defined in this library. +// (mostly for uniform integration, differentiation and testing). +// Defined as functions because double is not a class and a method +// would brake uniformity when defined for a double. +//////////////////////////////////////////////////////////////// + + + + + + +/** + * axis_a_b is a rotation vector, its norm is a rotation angle + * axis_a_b rotates the a frame towards the b frame. + * This routine returns the rotation matrix R_a_b + */ +IMETHOD Rotation Rot(const Vector& axis_a_b) { + // The formula is + // V.(V.tr) + st*[V x] + ct*(I-V.(V.tr)) + // can be found by multiplying it with an arbitrary vector p + // and noting that this vector is rotated. + Vector rotvec = axis_a_b; + double angle = rotvec.Normalize(1E-10); + double ct = ::cos(angle); + double st = ::sin(angle); + double vt = 1-ct; + return Rotation( + ct + vt*rotvec(0)*rotvec(0), + -rotvec(2)*st + vt*rotvec(0)*rotvec(1), + rotvec(1)*st + vt*rotvec(0)*rotvec(2), + rotvec(2)*st + vt*rotvec(1)*rotvec(0), + ct + vt*rotvec(1)*rotvec(1), + -rotvec(0)*st + vt*rotvec(1)*rotvec(2), + -rotvec(1)*st + vt*rotvec(2)*rotvec(0), + rotvec(0)*st + vt*rotvec(2)*rotvec(1), + ct + vt*rotvec(2)*rotvec(2) + ); + } + +IMETHOD Vector diff(const Vector& a,const Vector& b,double dt) { + return (b-a)/dt; +} + +/** + * \brief diff operator for displacement rotational velocity. + * + * The Vector arguments here represent a displacement rotational velocity. i.e. a rotation + * around a fixed axis for a certain angle. For this representation you cannot use diff() but + * have to use diff_displ(). + * + * \TODO represent a displacement twist and displacement rotational velocity with another + * class, instead of Vector and Twist. + * \warning do not confuse displacement rotational velocities and velocities + * \warning do not confuse displacement twist and twist. + * +IMETHOD Vector diff_displ(const Vector& a,const Vector& b,double dt) { + return diff(Rot(a),Rot(b),dt); +}*/ + +/** + * \brief diff operator for displacement twist. + * + * The Twist arguments here represent a displacement twist. i.e. a rotation + * around a fixed axis for a certain angle. For this representation you cannot use diff() but + * have to use diff_displ(). + * + * \warning do not confuse displacement rotational velocities and velocities + * \warning do not confuse displacement twist and twist. + * + +IMETHOD Twist diff_displ(const Twist& a,const Twist& b,double dt) { + return Twist(diff(a.vel,b.vel,dt),diff(Rot(a.rot),Rot(b.rot),dt)); +} +*/ + +IMETHOD Vector diff(const Rotation& R_a_b1,const Rotation& R_a_b2,double dt) { + Rotation R_b1_b2(R_a_b1.Inverse()*R_a_b2); + return R_a_b1 * R_b1_b2.GetRot() / dt; +} +IMETHOD Twist diff(const Frame& F_a_b1,const Frame& F_a_b2,double dt) { + return Twist( + diff(F_a_b1.p,F_a_b2.p,dt), + diff(F_a_b1.M,F_a_b2.M,dt) + ); +} +IMETHOD Twist diff(const Twist& a,const Twist& b,double dt) { + return Twist(diff(a.vel,b.vel,dt),diff(a.rot,b.rot,dt)); +} + +IMETHOD Wrench diff(const Wrench& a,const Wrench& b,double dt) { + return Wrench( + diff(a.force,b.force,dt), + diff(a.torque,b.torque,dt) + ); +} + + +IMETHOD Vector addDelta(const Vector& a,const Vector&da,double dt) { + return a+da*dt; +} + +IMETHOD Rotation addDelta(const Rotation& a,const Vector&da,double dt) { + return a*Rot(a.Inverse(da)*dt); +} +IMETHOD Frame addDelta(const Frame& a,const Twist& da,double dt) { + return Frame( + addDelta(a.M,da.rot,dt), + addDelta(a.p,da.vel,dt) + ); +} +IMETHOD Twist addDelta(const Twist& a,const Twist&da,double dt) { + return Twist(addDelta(a.vel,da.vel,dt),addDelta(a.rot,da.rot,dt)); +} +IMETHOD Wrench addDelta(const Wrench& a,const Wrench&da,double dt) { + return Wrench(addDelta(a.force,da.force,dt),addDelta(a.torque,da.torque,dt)); +} + + +/** + * \brief addDelta operator for displacement rotational velocity. + * + * The Vector arguments here represent a displacement rotational velocity. i.e. a rotation + * around a fixed axis for a certain angle. For this representation you cannot use diff() but + * have to use diff_displ(). + * + * \param a : displacement rotational velocity + * \param da : rotational velocity + * \return displacement rotational velocity + * + * \warning do not confuse displacement rotational velocities and velocities + * \warning do not confuse displacement twist and twist. + * +IMETHOD Vector addDelta_displ(const Vector& a,const Vector&da,double dt) { + return getRot(addDelta(Rot(a),da,dt)); +}*/ + +/** + * \brief addDelta operator for displacement twist. + * + * The Vector arguments here represent a displacement rotational velocity. i.e. a rotation + * around a fixed axis for a certain angle. For this representation you cannot use diff() but + * have to use diff_displ(). + * + * \param a : displacement twist + * \param da : twist + * \return displacement twist + * + * \warning do not confuse displacement rotational velocities and velocities + * \warning do not confuse displacement twist and twist. + * +IMETHOD Twist addDelta_displ(const Twist& a,const Twist&da,double dt) { + return Twist(addDelta(a.vel,da.vel,dt),addDelta_displ(a.rot,da.rot,dt)); +}*/ + + +IMETHOD void random(Vector& a) { + random(a[0]); + random(a[1]); + random(a[2]); +} +IMETHOD void random(Twist& a) { + random(a.rot); + random(a.vel); +} +IMETHOD void random(Wrench& a) { + random(a.torque); + random(a.force); +} + +IMETHOD void random(Rotation& R) { + double alfa; + double beta; + double gamma; + random(alfa); + random(beta); + random(gamma); + R = Rotation::EulerZYX(alfa,beta,gamma); +} + +IMETHOD void random(Frame& F) { + random(F.M); + random(F.p); +} + +IMETHOD void posrandom(Vector& a) { + posrandom(a[0]); + posrandom(a[1]); + posrandom(a[2]); +} +IMETHOD void posrandom(Twist& a) { + posrandom(a.rot); + posrandom(a.vel); +} +IMETHOD void posrandom(Wrench& a) { + posrandom(a.torque); + posrandom(a.force); +} + +IMETHOD void posrandom(Rotation& R) { + double alfa; + double beta; + double gamma; + posrandom(alfa); + posrandom(beta); + posrandom(gamma); + R = Rotation::EulerZYX(alfa,beta,gamma); +} + +IMETHOD void posrandom(Frame& F) { + random(F.M); + random(F.p); +} + + + + +IMETHOD bool operator==(const Frame& a,const Frame& b ) { +#ifdef KDL_USE_EQUAL + return Equal(a,b); +#else + return (a.p == b.p && + a.M == b.M ); +#endif +} + +IMETHOD bool operator!=(const Frame& a,const Frame& b) { + return !operator==(a,b); +} + +IMETHOD bool operator==(const Vector& a,const Vector& b) { +#ifdef KDL_USE_EQUAL + return Equal(a,b); +#else + return (a.data[0]==b.data[0]&& + a.data[1]==b.data[1]&& + a.data[2]==b.data[2] ); +#endif + } + +IMETHOD bool operator!=(const Vector& a,const Vector& b) { + return !operator==(a,b); +} + +IMETHOD bool operator==(const Twist& a,const Twist& b) { +#ifdef KDL_USE_EQUAL + return Equal(a,b); +#else + return (a.rot==b.rot && + a.vel==b.vel ); +#endif +} + +IMETHOD bool operator!=(const Twist& a,const Twist& b) { + return !operator==(a,b); +} + +IMETHOD bool operator==(const Wrench& a,const Wrench& b ) { +#ifdef KDL_USE_EQUAL + return Equal(a,b); +#else + return (a.force==b.force && + a.torque==b.torque ); +#endif +} + +IMETHOD bool operator!=(const Wrench& a,const Wrench& b) { + return !operator==(a,b); +} +IMETHOD bool operator!=(const Rotation& a,const Rotation& b) { + return !operator==(a,b); +} + diff --git a/intern/itasc/kdl/frames_io.cpp b/intern/itasc/kdl/frames_io.cpp new file mode 100644 index 00000000000..0af50bb0e07 --- /dev/null +++ b/intern/itasc/kdl/frames_io.cpp @@ -0,0 +1,310 @@ + +/*************************************************************************** + frames_io.h - description + ------------------------- + begin : June 2006 + copyright : (C) 2006 Erwin Aertbelien + email : firstname.lastname@mech.kuleuven.ac.be + + History (only major changes)( AUTHOR-Description ) : + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU Lesser General Public * + * License as published by the Free Software Foundation; either * + * version 2.1 of the License, or (at your option) any later version. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU Lesser General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + +#include "utilities/error.h" +#include "utilities/error_stack.h" +#include "frames.hpp" +#include "frames_io.hpp" + +#include <stdlib.h> +#include <ctype.h> +#include <string.h> +#include <iostream> + +namespace KDL { + + +std::ostream& operator << (std::ostream& os,const Vector& v) { + os << "[" << std::setw(KDL_FRAME_WIDTH) << v(0) << "," << std::setw(KDL_FRAME_WIDTH)<<v(1) + << "," << std::setw(KDL_FRAME_WIDTH) << v(2) << "]"; + return os; +} + +std::ostream& operator << (std::ostream& os,const Twist& v) { + os << "[" << std::setw(KDL_FRAME_WIDTH) << v.vel(0) + << "," << std::setw(KDL_FRAME_WIDTH) << v.vel(1) + << "," << std::setw(KDL_FRAME_WIDTH) << v.vel(2) + << "," << std::setw(KDL_FRAME_WIDTH) << v.rot(0) + << "," << std::setw(KDL_FRAME_WIDTH) << v.rot(1) + << "," << std::setw(KDL_FRAME_WIDTH) << v.rot(2) + << "]"; + return os; +} + +std::ostream& operator << (std::ostream& os,const Wrench& v) { + os << "[" << std::setw(KDL_FRAME_WIDTH) << v.force(0) + << "," << std::setw(KDL_FRAME_WIDTH) << v.force(1) + << "," << std::setw(KDL_FRAME_WIDTH) << v.force(2) + << "," << std::setw(KDL_FRAME_WIDTH) << v.torque(0) + << "," << std::setw(KDL_FRAME_WIDTH) << v.torque(1) + << "," << std::setw(KDL_FRAME_WIDTH) << v.torque(2) + << "]"; + return os; +} + + +std::ostream& operator << (std::ostream& os,const Rotation& R) { +#ifdef KDL_ROTATION_PROPERTIES_RPY + double r,p,y; + R.GetRPY(r,p,y); + os << "[RPY]"<<endl; + os << "["; + os << std::setw(KDL_FRAME_WIDTH) << r << ","; + os << std::setw(KDL_FRAME_WIDTH) << p << ","; + os << std::setw(KDL_FRAME_WIDTH) << y << "]"; +#else +# ifdef KDL_ROTATION_PROPERTIES_EULER + double z,y,x; + R.GetEulerZYX(z,y,x); + os << "[EULERZYX]"<<endl; + os << "["; + os << std::setw(KDL_FRAME_WIDTH) << z << ","; + os << std::setw(KDL_FRAME_WIDTH) << y << ","; + os << std::setw(KDL_FRAME_WIDTH) << x << "]"; +# else + os << "["; + for (int i=0;i<=2;i++) { + os << std::setw(KDL_FRAME_WIDTH) << R(i,0) << "," << + std::setw(KDL_FRAME_WIDTH) << R(i,1) << "," << + std::setw(KDL_FRAME_WIDTH) << R(i,2); + if (i<2) + os << ";"<< std::endl << " "; + else + os << "]"; + } +# endif +#endif + return os; +} + +std::ostream& operator << (std::ostream& os, const Frame& T) +{ + os << "[" << T.M << std::endl<< T.p << "]"; + return os; +} + +std::ostream& operator << (std::ostream& os,const Vector2& v) { + os << "[" << std::setw(KDL_FRAME_WIDTH) << v(0) << "," << std::setw(KDL_FRAME_WIDTH)<<v(1) + << "]"; + return os; +} + +// Rotation2 gives back an angle in degrees with the << and >> operators. +std::ostream& operator << (std::ostream& os,const Rotation2& R) { + os << "[" << R.GetRot()*rad2deg << "]"; + return os; +} + +std::ostream& operator << (std::ostream& os, const Frame2& T) +{ + os << T.M << T.p; + return os; +} + +std::istream& operator >> (std::istream& is,Vector& v) +{ IOTrace("Stream input Vector (vector or ZERO)"); + char storage[10]; + EatWord(is,"[]",storage,10); + if (strlen(storage)==0) { + Eat(is,'['); + is >> v(0); + Eat(is,','); + is >> v(1); + Eat(is,','); + is >> v(2); + EatEnd(is,']'); + IOTracePop(); + return is; + } + if (strcmp(storage,"ZERO")==0) { + v = Vector::Zero(); + IOTracePop(); + return is; + } + throw Error_Frame_Vector_Unexpected_id(); +} + +std::istream& operator >> (std::istream& is,Twist& v) +{ IOTrace("Stream input Twist"); + Eat(is,'['); + is >> v.vel(0); + Eat(is,','); + is >> v.vel(1); + Eat(is,','); + is >> v.vel(2); + Eat(is,','); + is >> v.rot(0); + Eat(is,','); + is >> v.rot(1); + Eat(is,','); + is >> v.rot(2); + EatEnd(is,']'); + IOTracePop(); + return is; +} + +std::istream& operator >> (std::istream& is,Wrench& v) +{ IOTrace("Stream input Wrench"); + Eat(is,'['); + is >> v.force(0); + Eat(is,','); + is >> v.force(1); + Eat(is,','); + is >> v.force(2); + Eat(is,','); + is >> v.torque(0); + Eat(is,','); + is >> v.torque(1); + Eat(is,','); + is >> v.torque(2); + EatEnd(is,']'); + IOTracePop(); + return is; +} + +std::istream& operator >> (std::istream& is,Rotation& r) +{ IOTrace("Stream input Rotation (Matrix or EULERZYX, EULERZYZ,RPY, ROT, IDENTITY)"); + char storage[10]; + EatWord(is,"[]",storage,10); + if (strlen(storage)==0) { + Eat(is,'['); + for (int i=0;i<3;i++) { + is >> r(i,0); + Eat(is,',') ; + is >> r(i,1); + Eat(is,','); + is >> r(i,2); + if (i<2) + Eat(is,';'); + else + EatEnd(is,']'); + } + IOTracePop(); + return is; + } + Vector v; + if (strcmp(storage,"EULERZYX")==0) { + is >> v; + v=v*deg2rad; + r = Rotation::EulerZYX(v(0),v(1),v(2)); + IOTracePop(); + return is; + } + if (strcmp(storage,"EULERZYZ")==0) { + is >> v; + v=v*deg2rad; + r = Rotation::EulerZYZ(v(0),v(1),v(2)); + IOTracePop(); + return is; + } + if (strcmp(storage,"RPY")==0) { + is >> v; + v=v*deg2rad; + r = Rotation::RPY(v(0),v(1),v(2)); + IOTracePop(); + return is; + } + if (strcmp(storage,"ROT")==0) { + is >> v; + double angle; + Eat(is,'['); + is >> angle; + EatEnd(is,']'); + r = Rotation::Rot(v,angle*deg2rad); + IOTracePop(); + return is; + } + if (strcmp(storage,"IDENTITY")==0) { + r = Rotation::Identity(); + IOTracePop(); + return is; + } + throw Error_Frame_Rotation_Unexpected_id(); + return is; +} + +std::istream& operator >> (std::istream& is,Frame& T) +{ IOTrace("Stream input Frame (Rotation,Vector) or DH[...]"); + char storage[10]; + EatWord(is,"[",storage,10); + if (strlen(storage)==0) { + Eat(is,'['); + is >> T.M; + is >> T.p; + EatEnd(is,']'); + IOTracePop(); + return is; + } + if (strcmp(storage,"DH")==0) { + double a,alpha,d,theta; + Eat(is,'['); + is >> a; + Eat(is,','); + is >> alpha; + Eat(is,','); + is >> d; + Eat(is,','); + is >> theta; + EatEnd(is,']'); + T = Frame::DH(a,alpha*deg2rad,d,theta*deg2rad); + IOTracePop(); + return is; + } + throw Error_Frame_Frame_Unexpected_id(); + return is; +} + +std::istream& operator >> (std::istream& is,Vector2& v) +{ IOTrace("Stream input Vector2"); + Eat(is,'['); + is >> v(0); + Eat(is,','); + is >> v(1); + EatEnd(is,']'); + IOTracePop(); + return is; +} +std::istream& operator >> (std::istream& is,Rotation2& r) +{ IOTrace("Stream input Rotation2"); + Eat(is,'['); + double val; + is >> val; + r.Rot(val*deg2rad); + EatEnd(is,']'); + IOTracePop(); + return is; +} +std::istream& operator >> (std::istream& is,Frame2& T) +{ IOTrace("Stream input Frame2"); + is >> T.M; + is >> T.p; + IOTracePop(); + return is; +} + +} // namespace Frame diff --git a/intern/itasc/kdl/frames_io.hpp b/intern/itasc/kdl/frames_io.hpp new file mode 100644 index 00000000000..a358d27383f --- /dev/null +++ b/intern/itasc/kdl/frames_io.hpp @@ -0,0 +1,114 @@ +/*************************************************************************** + frames_io.h - description + ------------------------- + begin : June 2006 + copyright : (C) 2006 Erwin Aertbelien + email : firstname.lastname@mech.kuleuven.ac.be + + History (only major changes)( AUTHOR-Description ) : + + Ruben Smits - Added output for jacobian and jntarray 06/2007 + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU Lesser General Public * + * License as published by the Free Software Foundation; either * + * version 2.1 of the License, or (at your option) any later version. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU Lesser General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ +/** +// +// \file +// Defines routines for I/O of Frame and related objects. +// \verbatim +// Spaces, tabs and newlines do not have any importance. +// Comments are allowed C-style,C++-style, make/perl/csh -style +// Description of the I/O : +// Vector : OUTPUT : e.g. [10,20,30] +// INPUT : +// 1) [10,20,30] +// 2) Zero +// Twist : e.g. [1,2,3,4,5,6] +// where [1,2,3] is velocity vector +// where [4,5,6] is rotational velocity vector +// Wrench : e.g. [1,2,3,4,5,6] +// where [1,2,3] represents a force vector +// where [4,5,6] represents a torque vector +// Rotation : output : +// [1,2,3; +// 4,5,6; +// 7,8,9] cfr definition of Rotation object. +// input : +// 1) like the output +// 2) EulerZYX,EulerZYZ,RPY word followed by a vector, e.g. : +// Eulerzyx[10,20,30] +// (ANGLES are always expressed in DEGREES for I/O) +// (ANGELS are always expressed in RADIANS for internal representation) +// 3) Rot [1,2,3] [20] Rotates around axis [1,2,3] with an angle +// of 20 degrees. +// 4) Identity returns identity rotation matrix. +// Frames : output : [ Rotationmatrix positionvector ] +// e.g. [ [1,0,0;0,1,0;0,0,1] [1,2,3] ] +// Input : +// 1) [ Rotationmatrix positionvector ] +// 2) DH [ 10,10,50,30] Denavit-Hartenberg representation +// ( is in fact not the representation of a Frame, but more +// limited, cfr. documentation of Frame object.) +// \endverbatim +// +// \warning +// You can use iostream.h or iostream header files for file I/O, +// if one declares the define WANT_STD_IOSTREAM then the standard C++ +// iostreams headers are included instead of the compiler-dependent version +// + * + ****************************************************************************/ +#ifndef FRAMES_IO_H +#define FRAMES_IO_H + +#include "utilities/utility_io.h" +#include "frames.hpp" +#include "jntarray.hpp" +#include "jacobian.hpp" + +namespace KDL { + + //! width to be used when printing variables out with frames_io.h + //! global variable, can be changed. + + + // I/O to C++ stream. + std::ostream& operator << (std::ostream& os,const Vector& v); + std::ostream& operator << (std::ostream& os,const Rotation& R); + std::ostream& operator << (std::ostream& os,const Frame& T); + std::ostream& operator << (std::ostream& os,const Twist& T); + std::ostream& operator << (std::ostream& os,const Wrench& T); + std::ostream& operator << (std::ostream& os,const Vector2& v); + std::ostream& operator << (std::ostream& os,const Rotation2& R); + std::ostream& operator << (std::ostream& os,const Frame2& T); + + + + std::istream& operator >> (std::istream& is,Vector& v); + std::istream& operator >> (std::istream& is,Rotation& R); + std::istream& operator >> (std::istream& is,Frame& T); + std::istream& operator >> (std::istream& os,Twist& T); + std::istream& operator >> (std::istream& os,Wrench& T); + std::istream& operator >> (std::istream& is,Vector2& v); + std::istream& operator >> (std::istream& is,Rotation2& R); + std::istream& operator >> (std::istream& is,Frame2& T); + + +} // namespace Frame + +#endif diff --git a/intern/itasc/kdl/framevel.cpp b/intern/itasc/kdl/framevel.cpp new file mode 100644 index 00000000000..c0a94d64947 --- /dev/null +++ b/intern/itasc/kdl/framevel.cpp @@ -0,0 +1,27 @@ +/***************************************************************************** + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id: framevel.cpp 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + ****************************************************************************/ + + +#include "framevel.hpp" + +namespace KDL { + +#ifndef KDL_INLINE + #include "framevel.inl" +#endif + + + +} diff --git a/intern/itasc/kdl/framevel.hpp b/intern/itasc/kdl/framevel.hpp new file mode 100644 index 00000000000..21a7844f522 --- /dev/null +++ b/intern/itasc/kdl/framevel.hpp @@ -0,0 +1,382 @@ +/***************************************************************************** + * \file + * This file contains the definition of classes for a + * Rall Algebra of (subset of) the classes defined in frames, + * i.e. classes that contain a pair (value,derivative) and define operations on that pair + * this classes are usefull for automatic differentiation ( <-> symbolic diff , <-> numeric diff) + * Defines VectorVel, RotationVel, FrameVel. Look at Frames.h for details on how to work + * with Frame objects. + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id: framevel.hpp 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + ****************************************************************************/ + +#ifndef KDL_FRAMEVEL_H +#define KDL_FRAMEVEL_H + +#include "utilities/utility.h" +#include "utilities/rall1d.h" +#include "utilities/traits.h" + +#include "frames.hpp" + + + +namespace KDL { + +typedef Rall1d<double> doubleVel; + +IMETHOD doubleVel diff(const doubleVel& a,const doubleVel& b,double dt=1.0) { + return doubleVel((b.t-a.t)/dt,(b.grad-a.grad)/dt); +} + +IMETHOD doubleVel addDelta(const doubleVel& a,const doubleVel&da,double dt=1.0) { + return doubleVel(a.t+da.t*dt,a.grad+da.grad*dt); +} + +IMETHOD void random(doubleVel& F) { + random(F.t); + random(F.grad); +} +IMETHOD void posrandom(doubleVel& F) { + posrandom(F.t); + posrandom(F.grad); +} + +} + +template <> +struct Traits<KDL::doubleVel> { + typedef double valueType; + typedef KDL::doubleVel derivType; +}; + +namespace KDL { + +class TwistVel; +class VectorVel; +class FrameVel; +class RotationVel; + +class VectorVel +// = TITLE +// An VectorVel is a Vector and its first derivative +// = CLASS TYPE +// Concrete +{ +public: + Vector p; // position vector + Vector v; // velocity vector +public: + VectorVel():p(),v(){} + VectorVel(const Vector& _p,const Vector& _v):p(_p),v(_v) {} + explicit VectorVel(const Vector& _p):p(_p),v(Vector::Zero()) {} + + Vector value() const { return p;} + Vector deriv() const { return v;} + + IMETHOD VectorVel& operator = (const VectorVel& arg); + IMETHOD VectorVel& operator = (const Vector& arg); + IMETHOD VectorVel& operator += (const VectorVel& arg); + IMETHOD VectorVel& operator -= (const VectorVel& arg); + IMETHOD static VectorVel Zero(); + IMETHOD void ReverseSign(); + IMETHOD doubleVel Norm() const; + IMETHOD friend VectorVel operator + (const VectorVel& r1,const VectorVel& r2); + IMETHOD friend VectorVel operator - (const VectorVel& r1,const VectorVel& r2); + IMETHOD friend VectorVel operator + (const Vector& r1,const VectorVel& r2); + IMETHOD friend VectorVel operator - (const Vector& r1,const VectorVel& r2); + IMETHOD friend VectorVel operator + (const VectorVel& r1,const Vector& r2); + IMETHOD friend VectorVel operator - (const VectorVel& r1,const Vector& r2); + IMETHOD friend VectorVel operator * (const VectorVel& r1,const VectorVel& r2); + IMETHOD friend VectorVel operator * (const VectorVel& r1,const Vector& r2); + IMETHOD friend VectorVel operator * (const Vector& r1,const VectorVel& r2); + IMETHOD friend VectorVel operator * (const VectorVel& r1,double r2); + IMETHOD friend VectorVel operator * (double r1,const VectorVel& r2); + IMETHOD friend VectorVel operator * (const doubleVel& r1,const VectorVel& r2); + IMETHOD friend VectorVel operator * (const VectorVel& r2,const doubleVel& r1); + IMETHOD friend VectorVel operator*(const Rotation& R,const VectorVel& x); + + IMETHOD friend VectorVel operator / (const VectorVel& r1,double r2); + IMETHOD friend VectorVel operator / (const VectorVel& r2,const doubleVel& r1); + IMETHOD friend void SetToZero(VectorVel& v); + + + IMETHOD friend bool Equal(const VectorVel& r1,const VectorVel& r2,double eps=epsilon); + IMETHOD friend bool Equal(const Vector& r1,const VectorVel& r2,double eps=epsilon); + IMETHOD friend bool Equal(const VectorVel& r1,const Vector& r2,double eps=epsilon); + IMETHOD friend VectorVel operator - (const VectorVel& r); + IMETHOD friend doubleVel dot(const VectorVel& lhs,const VectorVel& rhs); + IMETHOD friend doubleVel dot(const VectorVel& lhs,const Vector& rhs); + IMETHOD friend doubleVel dot(const Vector& lhs,const VectorVel& rhs); +}; + + + +class RotationVel +// = TITLE +// An RotationVel is a Rotation and its first derivative, a rotation vector +// = CLASS TYPE +// Concrete +{ +public: + Rotation R; // Rotation matrix + Vector w; // rotation vector +public: + RotationVel():R(),w() {} + explicit RotationVel(const Rotation& _R):R(_R),w(Vector::Zero()){} + RotationVel(const Rotation& _R,const Vector& _w):R(_R),w(_w){} + + + Rotation value() const { return R;} + Vector deriv() const { return w;} + + + IMETHOD RotationVel& operator = (const RotationVel& arg); + IMETHOD RotationVel& operator = (const Rotation& arg); + IMETHOD VectorVel UnitX() const; + IMETHOD VectorVel UnitY() const; + IMETHOD VectorVel UnitZ() const; + IMETHOD static RotationVel Identity(); + IMETHOD RotationVel Inverse() const; + IMETHOD VectorVel Inverse(const VectorVel& arg) const; + IMETHOD VectorVel Inverse(const Vector& arg) const; + IMETHOD VectorVel operator*(const VectorVel& arg) const; + IMETHOD VectorVel operator*(const Vector& arg) const; + IMETHOD void DoRotX(const doubleVel& angle); + IMETHOD void DoRotY(const doubleVel& angle); + IMETHOD void DoRotZ(const doubleVel& angle); + IMETHOD static RotationVel RotX(const doubleVel& angle); + IMETHOD static RotationVel RotY(const doubleVel& angle); + IMETHOD static RotationVel RotZ(const doubleVel& angle); + IMETHOD static RotationVel Rot(const Vector& rotvec,const doubleVel& angle); + // rotvec has arbitrary norm + // rotation around a constant vector ! + IMETHOD static RotationVel Rot2(const Vector& rotvec,const doubleVel& angle); + // rotvec is normalized. + // rotation around a constant vector ! + IMETHOD friend RotationVel operator* (const RotationVel& r1,const RotationVel& r2); + IMETHOD friend RotationVel operator* (const Rotation& r1,const RotationVel& r2); + IMETHOD friend RotationVel operator* (const RotationVel& r1,const Rotation& r2); + IMETHOD friend bool Equal(const RotationVel& r1,const RotationVel& r2,double eps=epsilon); + IMETHOD friend bool Equal(const Rotation& r1,const RotationVel& r2,double eps=epsilon); + IMETHOD friend bool Equal(const RotationVel& r1,const Rotation& r2,double eps=epsilon); + + IMETHOD TwistVel Inverse(const TwistVel& arg) const; + IMETHOD TwistVel Inverse(const Twist& arg) const; + IMETHOD TwistVel operator * (const TwistVel& arg) const; + IMETHOD TwistVel operator * (const Twist& arg) const; +}; + + + + +class FrameVel +// = TITLE +// An FrameVel is a Frame and its first derivative, a Twist vector +// = CLASS TYPE +// Concrete +// = CAVEATS +// +{ +public: + RotationVel M; + VectorVel p; +public: + FrameVel(){} + + explicit FrameVel(const Frame& _T): + M(_T.M),p(_T.p) {} + + FrameVel(const Frame& _T,const Twist& _t): + M(_T.M,_t.rot),p(_T.p,_t.vel) {} + + FrameVel(const RotationVel& _M,const VectorVel& _p): + M(_M),p(_p) {} + + + Frame value() const { return Frame(M.value(),p.value());} + Twist deriv() const { return Twist(p.deriv(),M.deriv());} + + + IMETHOD FrameVel& operator = (const Frame& arg); + IMETHOD FrameVel& operator = (const FrameVel& arg); + IMETHOD static FrameVel Identity(); + IMETHOD FrameVel Inverse() const; + IMETHOD VectorVel Inverse(const VectorVel& arg) const; + IMETHOD VectorVel operator*(const VectorVel& arg) const; + IMETHOD VectorVel operator*(const Vector& arg) const; + IMETHOD VectorVel Inverse(const Vector& arg) const; + IMETHOD Frame GetFrame() const; + IMETHOD Twist GetTwist() const; + IMETHOD friend FrameVel operator * (const FrameVel& f1,const FrameVel& f2); + IMETHOD friend FrameVel operator * (const Frame& f1,const FrameVel& f2); + IMETHOD friend FrameVel operator * (const FrameVel& f1,const Frame& f2); + IMETHOD friend bool Equal(const FrameVel& r1,const FrameVel& r2,double eps=epsilon); + IMETHOD friend bool Equal(const Frame& r1,const FrameVel& r2,double eps=epsilon); + IMETHOD friend bool Equal(const FrameVel& r1,const Frame& r2,double eps=epsilon); + + IMETHOD TwistVel Inverse(const TwistVel& arg) const; + IMETHOD TwistVel Inverse(const Twist& arg) const; + IMETHOD TwistVel operator * (const TwistVel& arg) const; + IMETHOD TwistVel operator * (const Twist& arg) const; +}; + + + + + +//very similar to Wrench class. +class TwistVel +// = TITLE +// This class represents a TwistVel. This is a velocity and rotational velocity together +{ +public: + VectorVel vel; + VectorVel rot; +public: + +// = Constructors + TwistVel():vel(),rot() {}; + TwistVel(const VectorVel& _vel,const VectorVel& _rot):vel(_vel),rot(_rot) {}; + TwistVel(const Twist& p,const Twist& v):vel(p.vel, v.vel), rot( p.rot, v.rot) {}; + TwistVel(const Twist& p):vel(p.vel), rot( p.rot) {}; + + Twist value() const { + return Twist(vel.value(),rot.value()); + } + Twist deriv() const { + return Twist(vel.deriv(),rot.deriv()); + } +// = Operators + IMETHOD TwistVel& operator-=(const TwistVel& arg); + IMETHOD TwistVel& operator+=(const TwistVel& arg); + +// = External operators + IMETHOD friend TwistVel operator*(const TwistVel& lhs,double rhs); + IMETHOD friend TwistVel operator*(double lhs,const TwistVel& rhs); + IMETHOD friend TwistVel operator/(const TwistVel& lhs,double rhs); + + IMETHOD friend TwistVel operator*(const TwistVel& lhs,const doubleVel& rhs); + IMETHOD friend TwistVel operator*(const doubleVel& lhs,const TwistVel& rhs); + IMETHOD friend TwistVel operator/(const TwistVel& lhs,const doubleVel& rhs); + + IMETHOD friend TwistVel operator+(const TwistVel& lhs,const TwistVel& rhs); + IMETHOD friend TwistVel operator-(const TwistVel& lhs,const TwistVel& rhs); + IMETHOD friend TwistVel operator-(const TwistVel& arg); + IMETHOD friend void SetToZero(TwistVel& v); + + +// = Zero + static IMETHOD TwistVel Zero(); + +// = Reverse Sign + IMETHOD void ReverseSign(); + +// = Change Reference point + IMETHOD TwistVel RefPoint(const VectorVel& v_base_AB); + // Changes the reference point of the TwistVel. + // The VectorVel v_base_AB is expressed in the same base as the TwistVel + // The VectorVel v_base_AB is a VectorVel from the old point to + // the new point. + // Complexity : 6M+6A + + // = Equality operators + // do not use operator == because the definition of Equal(.,.) is slightly + // different. It compares whether the 2 arguments are equal in an eps-interval + IMETHOD friend bool Equal(const TwistVel& a,const TwistVel& b,double eps=epsilon); + IMETHOD friend bool Equal(const Twist& a,const TwistVel& b,double eps=epsilon); + IMETHOD friend bool Equal(const TwistVel& a,const Twist& b,double eps=epsilon); + +// = Conversion to other entities + IMETHOD Twist GetTwist() const; + IMETHOD Twist GetTwistDot() const; +// = Friends + friend class RotationVel; + friend class FrameVel; + +}; + +IMETHOD VectorVel diff(const VectorVel& a,const VectorVel& b,double dt=1.0) { + return VectorVel(diff(a.p,b.p,dt),diff(a.v,b.v,dt)); +} + +IMETHOD VectorVel addDelta(const VectorVel& a,const VectorVel&da,double dt=1.0) { + return VectorVel(addDelta(a.p,da.p,dt),addDelta(a.v,da.v,dt)); +} +IMETHOD VectorVel diff(const RotationVel& a,const RotationVel& b,double dt = 1.0) { + return VectorVel(diff(a.R,b.R,dt),diff(a.w,b.w,dt)); +} + +IMETHOD RotationVel addDelta(const RotationVel& a,const VectorVel&da,double dt=1.0) { + return RotationVel(addDelta(a.R,da.p,dt),addDelta(a.w,da.v,dt)); +} + +IMETHOD TwistVel diff(const FrameVel& a,const FrameVel& b,double dt=1.0) { + return TwistVel(diff(a.M,b.M,dt),diff(a.p,b.p,dt)); +} + +IMETHOD FrameVel addDelta(const FrameVel& a,const TwistVel& da,double dt=1.0) { + return FrameVel( + addDelta(a.M,da.rot,dt), + addDelta(a.p,da.vel,dt) + ); +} + +IMETHOD void random(VectorVel& a) { + random(a.p); + random(a.v); +} +IMETHOD void random(TwistVel& a) { + random(a.vel); + random(a.rot); +} + +IMETHOD void random(RotationVel& R) { + random(R.R); + random(R.w); +} + +IMETHOD void random(FrameVel& F) { + random(F.M); + random(F.p); +} +IMETHOD void posrandom(VectorVel& a) { + posrandom(a.p); + posrandom(a.v); +} +IMETHOD void posrandom(TwistVel& a) { + posrandom(a.vel); + posrandom(a.rot); +} + +IMETHOD void posrandom(RotationVel& R) { + posrandom(R.R); + posrandom(R.w); +} + +IMETHOD void posrandom(FrameVel& F) { + posrandom(F.M); + posrandom(F.p); +} + +#ifdef KDL_INLINE +#include "framevel.inl" +#endif + +} // namespace + +#endif + + + + diff --git a/intern/itasc/kdl/framevel.inl b/intern/itasc/kdl/framevel.inl new file mode 100644 index 00000000000..994b3d2028e --- /dev/null +++ b/intern/itasc/kdl/framevel.inl @@ -0,0 +1,534 @@ +/***************************************************************************** + * \file + * provides inline functions of rframes.h + * + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id: framevel.inl 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + ****************************************************************************/ + + +// Methods and operators related to FrameVelVel +// They all delegate most of the work to RotationVelVel and VectorVelVel +FrameVel& FrameVel::operator = (const FrameVel& arg) { + M=arg.M; + p=arg.p; + return *this; +} + +FrameVel FrameVel::Identity() { + return FrameVel(RotationVel::Identity(),VectorVel::Zero()); +} + + +FrameVel operator *(const FrameVel& lhs,const FrameVel& rhs) +{ + return FrameVel(lhs.M*rhs.M,lhs.M*rhs.p+lhs.p); +} +FrameVel operator *(const FrameVel& lhs,const Frame& rhs) +{ + return FrameVel(lhs.M*rhs.M,lhs.M*rhs.p+lhs.p); +} +FrameVel operator *(const Frame& lhs,const FrameVel& rhs) +{ + return FrameVel(lhs.M*rhs.M , lhs.M*rhs.p+lhs.p ); +} + +VectorVel FrameVel::operator *(const VectorVel & arg) const +{ + return M*arg+p; +} +VectorVel FrameVel::operator *(const Vector & arg) const +{ + return M*arg+p; +} + +VectorVel FrameVel::Inverse(const VectorVel& arg) const +{ + return M.Inverse(arg-p); +} + +VectorVel FrameVel::Inverse(const Vector& arg) const +{ + return M.Inverse(arg-p); +} + +FrameVel FrameVel::Inverse() const +{ + return FrameVel(M.Inverse(),-M.Inverse(p)); +} + +FrameVel& FrameVel::operator = (const Frame& arg) { + M = arg.M; + p = arg.p; + return *this; +} +bool Equal(const FrameVel& r1,const FrameVel& r2,double eps) { + return (Equal(r1.M,r2.M,eps) && Equal(r1.p,r2.p,eps)); +} +bool Equal(const Frame& r1,const FrameVel& r2,double eps) { + return (Equal(r1.M,r2.M,eps) && Equal(r1.p,r2.p,eps)); +} +bool Equal(const FrameVel& r1,const Frame& r2,double eps) { + return (Equal(r1.M,r2.M,eps) && Equal(r1.p,r2.p,eps)); +} + +Frame FrameVel::GetFrame() const { + return Frame(M.R,p.p); +} + +Twist FrameVel::GetTwist() const { + return Twist(p.v,M.w); +} + + +RotationVel operator* (const RotationVel& r1,const RotationVel& r2) { + return RotationVel( r1.R*r2.R, r1.w + r1.R*r2.w ); +} + +RotationVel operator* (const Rotation& r1,const RotationVel& r2) { + return RotationVel( r1*r2.R, r1*r2.w ); +} + +RotationVel operator* (const RotationVel& r1,const Rotation& r2) { + return RotationVel( r1.R*r2, r1.w ); +} + +RotationVel& RotationVel::operator = (const RotationVel& arg) { + R=arg.R; + w=arg.w; + return *this; + } +RotationVel& RotationVel::operator = (const Rotation& arg) { + R=arg; + w=Vector::Zero(); + return *this; +} + +VectorVel RotationVel::UnitX() const { + return VectorVel(R.UnitX(),w*R.UnitX()); +} + +VectorVel RotationVel::UnitY() const { + return VectorVel(R.UnitY(),w*R.UnitY()); +} + +VectorVel RotationVel::UnitZ() const { + return VectorVel(R.UnitZ(),w*R.UnitZ()); +} + + + +RotationVel RotationVel::Identity() { + return RotationVel(Rotation::Identity(),Vector::Zero()); +} + +RotationVel RotationVel::Inverse() const { + return RotationVel(R.Inverse(),-R.Inverse(w)); +} + +VectorVel RotationVel::Inverse(const VectorVel& arg) const { + Vector tmp=R.Inverse(arg.p); + return VectorVel(tmp, + R.Inverse(arg.v-w*arg.p) + ); +} + +VectorVel RotationVel::Inverse(const Vector& arg) const { + Vector tmp=R.Inverse(arg); + return VectorVel(tmp, + R.Inverse(-w*arg) + ); +} + + +VectorVel RotationVel::operator*(const VectorVel& arg) const { + Vector tmp=R*arg.p; + return VectorVel(tmp,w*tmp+R*arg.v); +} + +VectorVel RotationVel::operator*(const Vector& arg) const { + Vector tmp=R*arg; + return VectorVel(tmp,w*tmp); +} + + +// = Rotations +// The Rot... static functions give the value of the appropriate rotation matrix back. +// The DoRot... functions apply a rotation R to *this,such that *this = *this * R. + +void RotationVel::DoRotX(const doubleVel& angle) { + w+=R*Vector(angle.grad,0,0); + R.DoRotX(angle.t); +} +RotationVel RotationVel::RotX(const doubleVel& angle) { + return RotationVel(Rotation::RotX(angle.t),Vector(angle.grad,0,0)); +} + +void RotationVel::DoRotY(const doubleVel& angle) { + w+=R*Vector(0,angle.grad,0); + R.DoRotY(angle.t); +} +RotationVel RotationVel::RotY(const doubleVel& angle) { + return RotationVel(Rotation::RotX(angle.t),Vector(0,angle.grad,0)); +} + +void RotationVel::DoRotZ(const doubleVel& angle) { + w+=R*Vector(0,0,angle.grad); + R.DoRotZ(angle.t); +} +RotationVel RotationVel::RotZ(const doubleVel& angle) { + return RotationVel(Rotation::RotZ(angle.t),Vector(0,0,angle.grad)); +} + + +RotationVel RotationVel::Rot(const Vector& rotvec,const doubleVel& angle) +// rotvec has arbitrary norm +// rotation around a constant vector ! +{ + Vector v(rotvec); + v.Normalize(); + return RotationVel(Rotation::Rot2(v,angle.t),v*angle.grad); +} + +RotationVel RotationVel::Rot2(const Vector& rotvec,const doubleVel& angle) + // rotvec is normalized. +{ + return RotationVel(Rotation::Rot2(rotvec,angle.t),rotvec*angle.grad); +} + + +VectorVel operator + (const VectorVel& r1,const VectorVel& r2) { + return VectorVel(r1.p+r2.p,r1.v+r2.v); +} + +VectorVel operator - (const VectorVel& r1,const VectorVel& r2) { + return VectorVel(r1.p-r2.p,r1.v-r2.v); +} + +VectorVel operator + (const VectorVel& r1,const Vector& r2) { + return VectorVel(r1.p+r2,r1.v); +} + +VectorVel operator - (const VectorVel& r1,const Vector& r2) { + return VectorVel(r1.p-r2,r1.v); +} + +VectorVel operator + (const Vector& r1,const VectorVel& r2) { + return VectorVel(r1+r2.p,r2.v); +} + +VectorVel operator - (const Vector& r1,const VectorVel& r2) { + return VectorVel(r1-r2.p,-r2.v); +} + +// unary - +VectorVel operator - (const VectorVel& r) { + return VectorVel(-r.p,-r.v); +} + +void SetToZero(VectorVel& v){ + SetToZero(v.p); + SetToZero(v.v); +} + +// cross prod. +VectorVel operator * (const VectorVel& r1,const VectorVel& r2) { + return VectorVel(r1.p*r2.p, r1.p*r2.v+r1.v*r2.p); +} + +VectorVel operator * (const VectorVel& r1,const Vector& r2) { + return VectorVel(r1.p*r2, r1.v*r2); +} + +VectorVel operator * (const Vector& r1,const VectorVel& r2) { + return VectorVel(r1*r2.p, r1*r2.v); +} + + + +// scalar mult. +VectorVel operator * (double r1,const VectorVel& r2) { + return VectorVel(r1*r2.p, r1*r2.v); +} + +VectorVel operator * (const VectorVel& r1,double r2) { + return VectorVel(r1.p*r2, r1.v*r2); +} + + + +VectorVel operator * (const doubleVel& r1,const VectorVel& r2) { + return VectorVel(r1.t*r2.p, r1.t*r2.v + r1.grad*r2.p); +} + +VectorVel operator * (const VectorVel& r2,const doubleVel& r1) { + return VectorVel(r1.t*r2.p, r1.t*r2.v + r1.grad*r2.p); +} + +VectorVel operator / (const VectorVel& r1,double r2) { + return VectorVel(r1.p/r2, r1.v/r2); +} + +VectorVel operator / (const VectorVel& r2,const doubleVel& r1) { + return VectorVel(r2.p/r1.t, r2.v/r1.t - r2.p*r1.grad/r1.t/r1.t); +} + +VectorVel operator*(const Rotation& R,const VectorVel& x) { + return VectorVel(R*x.p,R*x.v); +} + +VectorVel& VectorVel::operator = (const VectorVel& arg) { + p=arg.p; + v=arg.v; + return *this; +} +VectorVel& VectorVel::operator = (const Vector& arg) { + p=arg; + v=Vector::Zero(); + return *this; +} +VectorVel& VectorVel::operator += (const VectorVel& arg) { + p+=arg.p; + v+=arg.v; + return *this; +} +VectorVel& VectorVel::operator -= (const VectorVel& arg) { + p-=arg.p; + v-=arg.v; + return *this; +} + +VectorVel VectorVel::Zero() { + return VectorVel(Vector::Zero(),Vector::Zero()); +} +void VectorVel::ReverseSign() { + p.ReverseSign(); + v.ReverseSign(); +} +doubleVel VectorVel::Norm() const { + double n = p.Norm(); + return doubleVel(n,dot(p,v)/n); +} + +bool Equal(const VectorVel& r1,const VectorVel& r2,double eps) { + return (Equal(r1.p,r2.p,eps) && Equal(r1.v,r2.v,eps)); +} +bool Equal(const Vector& r1,const VectorVel& r2,double eps) { + return (Equal(r1,r2.p,eps) && Equal(Vector::Zero(),r2.v,eps)); +} +bool Equal(const VectorVel& r1,const Vector& r2,double eps) { + return (Equal(r1.p,r2,eps) && Equal(r1.v,Vector::Zero(),eps)); +} + +bool Equal(const RotationVel& r1,const RotationVel& r2,double eps) { + return (Equal(r1.w,r2.w,eps) && Equal(r1.R,r2.R,eps)); +} +bool Equal(const Rotation& r1,const RotationVel& r2,double eps) { + return (Equal(Vector::Zero(),r2.w,eps) && Equal(r1,r2.R,eps)); +} +bool Equal(const RotationVel& r1,const Rotation& r2,double eps) { + return (Equal(r1.w,Vector::Zero(),eps) && Equal(r1.R,r2,eps)); +} +bool Equal(const TwistVel& a,const TwistVel& b,double eps) { + return (Equal(a.rot,b.rot,eps)&& + Equal(a.vel,b.vel,eps) ); +} +bool Equal(const Twist& a,const TwistVel& b,double eps) { + return (Equal(a.rot,b.rot,eps)&& + Equal(a.vel,b.vel,eps) ); +} +bool Equal(const TwistVel& a,const Twist& b,double eps) { + return (Equal(a.rot,b.rot,eps)&& + Equal(a.vel,b.vel,eps) ); +} + + + +IMETHOD doubleVel dot(const VectorVel& lhs,const VectorVel& rhs) { + return doubleVel(dot(lhs.p,rhs.p),dot(lhs.p,rhs.v)+dot(lhs.v,rhs.p)); +} +IMETHOD doubleVel dot(const VectorVel& lhs,const Vector& rhs) { + return doubleVel(dot(lhs.p,rhs),dot(lhs.v,rhs)); +} +IMETHOD doubleVel dot(const Vector& lhs,const VectorVel& rhs) { + return doubleVel(dot(lhs,rhs.p),dot(lhs,rhs.v)); +} + + + + + + + + + + + + +TwistVel TwistVel::Zero() +{ + return TwistVel(VectorVel::Zero(),VectorVel::Zero()); +} + + +void TwistVel::ReverseSign() +{ + vel.ReverseSign(); + rot.ReverseSign(); +} + +TwistVel TwistVel::RefPoint(const VectorVel& v_base_AB) + // Changes the reference point of the TwistVel. + // The VectorVel v_base_AB is expressed in the same base as the TwistVel + // The VectorVel v_base_AB is a VectorVel from the old point to + // the new point. + // Complexity : 6M+6A +{ + return TwistVel(this->vel+this->rot*v_base_AB,this->rot); +} + +TwistVel& TwistVel::operator-=(const TwistVel& arg) +{ + vel-=arg.vel; + rot -=arg.rot; + return *this; +} + +TwistVel& TwistVel::operator+=(const TwistVel& arg) +{ + vel+=arg.vel; + rot +=arg.rot; + return *this; +} + + +TwistVel operator*(const TwistVel& lhs,double rhs) +{ + return TwistVel(lhs.vel*rhs,lhs.rot*rhs); +} + +TwistVel operator*(double lhs,const TwistVel& rhs) +{ + return TwistVel(lhs*rhs.vel,lhs*rhs.rot); +} + +TwistVel operator/(const TwistVel& lhs,double rhs) +{ + return TwistVel(lhs.vel/rhs,lhs.rot/rhs); +} + + +TwistVel operator*(const TwistVel& lhs,const doubleVel& rhs) +{ + return TwistVel(lhs.vel*rhs,lhs.rot*rhs); +} + +TwistVel operator*(const doubleVel& lhs,const TwistVel& rhs) +{ + return TwistVel(lhs*rhs.vel,lhs*rhs.rot); +} + +TwistVel operator/(const TwistVel& lhs,const doubleVel& rhs) +{ + return TwistVel(lhs.vel/rhs,lhs.rot/rhs); +} + + + +// addition of TwistVel's +TwistVel operator+(const TwistVel& lhs,const TwistVel& rhs) +{ + return TwistVel(lhs.vel+rhs.vel,lhs.rot+rhs.rot); +} + +TwistVel operator-(const TwistVel& lhs,const TwistVel& rhs) +{ + return TwistVel(lhs.vel-rhs.vel,lhs.rot-rhs.rot); +} + +// unary - +TwistVel operator-(const TwistVel& arg) +{ + return TwistVel(-arg.vel,-arg.rot); +} + +void SetToZero(TwistVel& v) +{ + SetToZero(v.vel); + SetToZero(v.rot); +} + + + + + +TwistVel RotationVel::Inverse(const TwistVel& arg) const +{ + return TwistVel(Inverse(arg.vel),Inverse(arg.rot)); +} + +TwistVel RotationVel::operator * (const TwistVel& arg) const +{ + return TwistVel((*this)*arg.vel,(*this)*arg.rot); +} + +TwistVel RotationVel::Inverse(const Twist& arg) const +{ + return TwistVel(Inverse(arg.vel),Inverse(arg.rot)); +} + +TwistVel RotationVel::operator * (const Twist& arg) const +{ + return TwistVel((*this)*arg.vel,(*this)*arg.rot); +} + + +TwistVel FrameVel::operator * (const TwistVel& arg) const +{ + TwistVel tmp; + tmp.rot = M*arg.rot; + tmp.vel = M*arg.vel+p*tmp.rot; + return tmp; +} + +TwistVel FrameVel::operator * (const Twist& arg) const +{ + TwistVel tmp; + tmp.rot = M*arg.rot; + tmp.vel = M*arg.vel+p*tmp.rot; + return tmp; +} + +TwistVel FrameVel::Inverse(const TwistVel& arg) const +{ + TwistVel tmp; + tmp.rot = M.Inverse(arg.rot); + tmp.vel = M.Inverse(arg.vel-p*arg.rot); + return tmp; +} + +TwistVel FrameVel::Inverse(const Twist& arg) const +{ + TwistVel tmp; + tmp.rot = M.Inverse(arg.rot); + tmp.vel = M.Inverse(arg.vel-p*arg.rot); + return tmp; +} + +Twist TwistVel::GetTwist() const { + return Twist(vel.p,rot.p); +} + +Twist TwistVel::GetTwistDot() const { + return Twist(vel.v,rot.v); +} diff --git a/intern/itasc/kdl/inertia.cpp b/intern/itasc/kdl/inertia.cpp new file mode 100644 index 00000000000..6c7337d0dc4 --- /dev/null +++ b/intern/itasc/kdl/inertia.cpp @@ -0,0 +1,48 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "inertia.hpp" + +#include <Eigen/Array> + +namespace KDL { +using namespace Eigen; + +Inertia::Inertia(double m,double Ixx,double Iyy,double Izz,double Ixy,double Ixz,double Iyz): +data(Matrix<double,6,6>::Zero()) +{ + data(0,0)=Ixx; + data(1,1)=Iyy; + data(2,2)=Izz; + data(2,1)=data(1,2)=Ixy; + data(3,1)=data(1,3)=Ixz; + data(3,2)=data(2,3)=Iyz; + + data.block(3,3,3,3)=m*Matrix<double,3,3>::Identity(); +} + +Inertia::~Inertia() +{ +} + + + +} diff --git a/intern/itasc/kdl/inertia.hpp b/intern/itasc/kdl/inertia.hpp new file mode 100644 index 00000000000..9f33859671c --- /dev/null +++ b/intern/itasc/kdl/inertia.hpp @@ -0,0 +1,70 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDLINERTIA_HPP +#define KDLINERTIA_HPP + +#include <Eigen/Array> +#include "frames.hpp" + +namespace KDL { + +using namespace Eigen; + +/** + * This class offers the inertia-structure of a body + * An inertia is defined in a certain reference point and a certain reference base. + * The reference point does not have to coincide with the origin of the reference frame. + */ +class Inertia{ +public: + + /** + * This constructor creates a cartesian space inertia matrix, + * the arguments are the mass and the inertia moments in the cog. + */ + Inertia(double m=0,double Ixx=0,double Iyy=0,double Izz=0,double Ixy=0,double Ixz=0,double Iyz=0); + + static inline Inertia Zero(){ + return Inertia(0,0,0,0,0,0,0); + }; + + friend class Rotation; + friend class Frame; + + /** + * F = m*a + */ + // Wrench operator* (const AccelerationTwist& acc); + + + ~Inertia(); +private: + Matrix<double,6,6,RowMajor> data; + +}; + + + + +} + +#endif diff --git a/intern/itasc/kdl/jacobian.cpp b/intern/itasc/kdl/jacobian.cpp new file mode 100644 index 00000000000..4166a341fe7 --- /dev/null +++ b/intern/itasc/kdl/jacobian.cpp @@ -0,0 +1,129 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "jacobian.hpp" + +namespace KDL +{ + Jacobian::Jacobian(unsigned int _size,unsigned int _nr_blocks): + size(_size),nr_blocks(_nr_blocks) + { + twists = new Twist[size*nr_blocks]; + } + + Jacobian::Jacobian(const Jacobian& arg): + size(arg.columns()), + nr_blocks(arg.nr_blocks) + { + twists = new Twist[size*nr_blocks]; + for(unsigned int i=0;i<size*nr_blocks;i++) + twists[i] = arg.twists[i]; + } + + Jacobian& Jacobian::operator = (const Jacobian& arg) + { + assert(size==arg.size); + assert(nr_blocks==arg.nr_blocks); + for(unsigned int i=0;i<size;i++) + twists[i]=arg.twists[i]; + return *this; + } + + + Jacobian::~Jacobian() + { + delete [] twists; + } + + double Jacobian::operator()(int i,int j)const + { + assert(i<6*nr_blocks&&j<size); + return twists[j+6*(int)(floor((double)i/6))](i%6); + } + + double& Jacobian::operator()(int i,int j) + { + assert(i<6*nr_blocks&&j<size); + return twists[j+6*(int)(floor((double)i/6))](i%6); + } + + unsigned int Jacobian::rows()const + { + return 6*nr_blocks; + } + + unsigned int Jacobian::columns()const + { + return size; + } + + void SetToZero(Jacobian& jac) + { + for(unsigned int i=0;i<jac.size*jac.nr_blocks;i++) + SetToZero(jac.twists[i]); + } + + void changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest) + { + assert(src1.size==dest.size); + assert(src1.nr_blocks==dest.nr_blocks); + for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++) + dest.twists[i]=src1.twists[i].RefPoint(base_AB); + } + + void changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest) + { + assert(src1.size==dest.size); + assert(src1.nr_blocks==dest.nr_blocks); + for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++) + dest.twists[i]=rot*src1.twists[i]; + } + + void changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest) + { + assert(src1.size==dest.size); + assert(src1.nr_blocks==dest.nr_blocks); + for(unsigned int i=0;i<src1.size*src1.nr_blocks;i++) + dest.twists[i]=frame*src1.twists[i]; + } + + bool Jacobian::operator ==(const Jacobian& arg) + { + return Equal((*this),arg); + } + + bool Jacobian::operator!=(const Jacobian& arg) + { + return !Equal((*this),arg); + } + + bool Equal(const Jacobian& a,const Jacobian& b,double eps) + { + if(a.rows()==b.rows()&&a.columns()==b.columns()){ + bool rc=true; + for(unsigned int i=0;i<a.columns();i++) + rc&=Equal(a.twists[i],b.twists[i],eps); + return rc; + }else + return false; + } + +} diff --git a/intern/itasc/kdl/jacobian.hpp b/intern/itasc/kdl/jacobian.hpp new file mode 100644 index 00000000000..e9057451c9f --- /dev/null +++ b/intern/itasc/kdl/jacobian.hpp @@ -0,0 +1,68 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_JACOBIAN_HPP +#define KDL_JACOBIAN_HPP + +#include "frames.hpp" + +namespace KDL +{ + //Forward declaration + class ChainJntToJacSolver; + + class Jacobian + { + friend class ChainJntToJacSolver; + private: + unsigned int size; + unsigned int nr_blocks; + public: + Twist* twists; + Jacobian(unsigned int size,unsigned int nr=1); + Jacobian(const Jacobian& arg); + + Jacobian& operator=(const Jacobian& arg); + + bool operator ==(const Jacobian& arg); + bool operator !=(const Jacobian& arg); + + friend bool Equal(const Jacobian& a,const Jacobian& b,double eps=epsilon); + + + ~Jacobian(); + + double operator()(int i,int j)const; + double& operator()(int i,int j); + unsigned int rows()const; + unsigned int columns()const; + + friend void SetToZero(Jacobian& jac); + + friend void changeRefPoint(const Jacobian& src1, const Vector& base_AB, Jacobian& dest); + friend void changeBase(const Jacobian& src1, const Rotation& rot, Jacobian& dest); + friend void changeRefFrame(const Jacobian& src1,const Frame& frame, Jacobian& dest); + + + }; +} + +#endif diff --git a/intern/itasc/kdl/jntarray.cpp b/intern/itasc/kdl/jntarray.cpp new file mode 100644 index 00000000000..2adb76081f3 --- /dev/null +++ b/intern/itasc/kdl/jntarray.cpp @@ -0,0 +1,152 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "jntarray.hpp" + +namespace KDL +{ + JntArray::JntArray(): + size(0), + data(NULL) + { + } + + JntArray::JntArray(unsigned int _size): + size(_size) + { + assert(0 < size); + data = new double[size]; + SetToZero(*this); + } + + + JntArray::JntArray(const JntArray& arg): + size(arg.size) + { + data = ((0 < size) ? new double[size] : NULL); + for(unsigned int i=0;i<size;i++) + data[i]=arg.data[i]; + } + + JntArray& JntArray::operator = (const JntArray& arg) + { + assert(size==arg.size); + for(unsigned int i=0;i<size;i++) + data[i]=arg.data[i]; + return *this; + } + + + JntArray::~JntArray() + { + delete [] data; + } + + void JntArray::resize(unsigned int newSize) + { + delete [] data; + size = newSize; + data = new double[size]; + SetToZero(*this); + } + + double JntArray::operator()(unsigned int i,unsigned int j)const + { + assert(i<size&&j==0); + assert(0 != size); // found JntArray containing no data + return data[i]; + } + + double& JntArray::operator()(unsigned int i,unsigned int j) + { + assert(i<size&&j==0); + assert(0 != size); // found JntArray containing no data + return data[i]; + } + + unsigned int JntArray::rows()const + { + return size; + } + + unsigned int JntArray::columns()const + { + return 0; + } + + void Add(const JntArray& src1,const JntArray& src2,JntArray& dest) + { + assert(src1.size==src2.size&&src1.size==dest.size); + for(unsigned int i=0;i<dest.size;i++) + dest.data[i]=src1.data[i]+src2.data[i]; + } + + void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest) + { + assert(src1.size==src2.size&&src1.size==dest.size); + for(unsigned int i=0;i<dest.size;i++) + dest.data[i]=src1.data[i]-src2.data[i]; + } + + void Multiply(const JntArray& src,const double& factor,JntArray& dest) + { + assert(src.size==dest.size); + for(unsigned int i=0;i<dest.size;i++) + dest.data[i]=factor*src.data[i]; + } + + void Divide(const JntArray& src,const double& factor,JntArray& dest) + { + assert(src.rows()==dest.size); + for(unsigned int i=0;i<dest.size;i++) + dest.data[i]=src.data[i]/factor; + } + + void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest) + { + assert(jac.columns()==src.size); + SetToZero(dest); + for(unsigned int i=0;i<6;i++) + for(unsigned int j=0;j<src.size;j++) + dest(i)+=jac(i,j)*src.data[j]; + } + + void SetToZero(JntArray& array) + { + for(unsigned int i=0;i<array.size;i++) + array.data[i]=0; + } + + bool Equal(const JntArray& src1, const JntArray& src2,double eps) + { + assert(src1.size==src2.size); + bool ret = true; + for(unsigned int i=0;i<src1.size;i++) + ret = ret && Equal(src1.data[i],src2.data[i],eps); + return ret; + } + + bool operator==(const JntArray& src1,const JntArray& src2){return Equal(src1,src2);}; + //bool operator!=(const JntArray& src1,const JntArray& src2){return Equal(src1,src2);}; + +} + + diff --git a/intern/itasc/kdl/jntarray.hpp b/intern/itasc/kdl/jntarray.hpp new file mode 100644 index 00000000000..19ffa4343e3 --- /dev/null +++ b/intern/itasc/kdl/jntarray.hpp @@ -0,0 +1,217 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_JNTARRAY_HPP +#define KDL_JNTARRAY_HPP + +#include "frames.hpp" +#include "jacobian.hpp" + +namespace KDL +{ + /** + * @brief This class represents an fixed size array containing + * joint values of a KDL::Chain. + * + * \warning An object constructed with the default constructor provides + * a valid, but inert, object. Many of the member functions will do + * the correct thing and have no affect on this object, but some + * member functions can _NOT_ deal with an inert/empty object. These + * functions will assert() and exit the program instead. The intended use + * case for the default constructor (in an RTT/OCL setting) is outlined in + * code below - the default constructor plus the resize() function allow + * use of JntArray objects whose size is set within a configureHook() call + * (typically based on a size determined from a property). + +\code +class MyTask : public RTT::TaskContext +{ + JntArray j; + MyTask() + {} // invokes j's default constructor + + bool configureHook() + { + unsigned int size = some_property.rvalue(); + j.resize(size) + ... + } + + void updateHook() + { + ** use j here + } +}; +/endcode + + */ + + class JntArray + { + private: + unsigned int size; + double* data; + public: + /** Construct with _no_ data array + * @post NULL == data + * @post 0 == rows() + * @warning use of an object constructed like this, without + * a resize() first, may result in program exit! See class + * documentation. + */ + JntArray(); + /** + * Constructor of the joint array + * + * @param size size of the array, this cannot be changed + * afterwards. + * @pre 0 < size + * @post NULL != data + * @post 0 < rows() + * @post all elements in data have 0 value + */ + JntArray(unsigned int size); + /** Copy constructor + * @note Will correctly copy an empty object + */ + JntArray(const JntArray& arg); + ~JntArray(); + /** Resize the array + * @warning This causes a dynamic allocation (and potentially + * also a dynamic deallocation). This _will_ negatively affect + * real-time performance! + * + * @post newSize == rows() + * @post NULL != data + * @post all elements in data have 0 value + */ + void resize(unsigned int newSize); + + JntArray& operator = ( const JntArray& arg); + /** + * get_item operator for the joint array, if a second value is + * given it should be zero, since a JntArray resembles a column. + * + * + * @return the joint value at position i, starting from 0 + * @pre 0 != size (ie non-default constructor or resize() called) + */ + double operator()(unsigned int i,unsigned int j=0)const; + /** + * set_item operator, again if a second value is given it + *should be zero. + * + * @return reference to the joint value at position i,starting + *from zero. + * @pre 0 != size (ie non-default constructor or resize() called) + */ + double& operator()(unsigned int i,unsigned int j=0); + /** + * Returns the number of rows (size) of the array + * + */ + unsigned int rows()const; + /** + * Returns the number of columns of the array, always 1. + */ + unsigned int columns()const; + + /** + * Function to add two joint arrays, all the arguments must + * have the same size: A + B = C. This function is + * aliasing-safe, A or B can be the same array as C. + * + * @param src1 A + * @param src2 B + * @param dest C + */ + friend void Add(const JntArray& src1,const JntArray& src2,JntArray& dest); + /** + * Function to subtract two joint arrays, all the arguments must + * have the same size: A - B = C. This function is + * aliasing-safe, A or B can be the same array as C. + * + * @param src1 A + * @param src2 B + * @param dest C + */ + friend void Subtract(const JntArray& src1,const JntArray& src2,JntArray& dest); + /** + * Function to multiply all the array values with a scalar + * factor: A*b=C. This function is aliasing-safe, A can be the + * same array as C. + * + * @param src A + * @param factor b + * @param dest C + */ + friend void Multiply(const JntArray& src,const double& factor,JntArray& dest); + /** + * Function to divide all the array values with a scalar + * factor: A/b=C. This function is aliasing-safe, A can be the + * same array as C. + * + * @param src A + * @param factor b + * @param dest C + */ + friend void Divide(const JntArray& src,const double& factor,JntArray& dest); + /** + * Function to multiply a KDL::Jacobian with a KDL::JntArray + * to get a KDL::Twist, it should not be used to calculate the + * forward velocity kinematics, the solver classes are built + * for this purpose. + * J*q = t + * + * @param jac J + * @param src q + * @param dest t + * @post dest==Twist::Zero() if 0==src.rows() (ie src is empty) + */ + friend void MultiplyJacobian(const Jacobian& jac, const JntArray& src, Twist& dest); + /** + * Function to set all the values of the array to 0 + * + * @param array + */ + friend void SetToZero(JntArray& array); + /** + * Function to check if two arrays are the same with a + *precision of eps + * + * @param src1 + * @param src2 + * @param eps default: epsilon + * @return true if each element of src1 is within eps of the same + * element in src2, or if both src1 and src2 have no data (ie 0==rows()) + */ + friend bool Equal(const JntArray& src1,const JntArray& src2,double eps=epsilon); + + friend bool operator==(const JntArray& src1,const JntArray& src2); + //friend bool operator!=(const JntArray& src1,const JntArray& src2); + }; + + bool operator==(const JntArray& src1,const JntArray& src2); + //bool operator!=(const JntArray& src1,const JntArray& src2); + +} + +#endif diff --git a/intern/itasc/kdl/jntarrayacc.cpp b/intern/itasc/kdl/jntarrayacc.cpp new file mode 100644 index 00000000000..3c9c67d9ef9 --- /dev/null +++ b/intern/itasc/kdl/jntarrayacc.cpp @@ -0,0 +1,170 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "jntarrayacc.hpp" + +namespace KDL +{ + JntArrayAcc::JntArrayAcc(unsigned int size): + q(size),qdot(size),qdotdot(size) + { + } + JntArrayAcc::JntArrayAcc(const JntArray& qin, const JntArray& qdotin,const JntArray& qdotdotin): + q(qin),qdot(qdotin),qdotdot(qdotdotin) + { + assert(q.rows()==qdot.rows()&&qdot.rows()==qdotdot.rows()); + } + JntArrayAcc::JntArrayAcc(const JntArray& qin, const JntArray& qdotin): + q(qin),qdot(qdotin),qdotdot(q.rows()) + { + assert(q.rows()==qdot.rows()); + } + JntArrayAcc::JntArrayAcc(const JntArray& qin): + q(qin),qdot(q.rows()),qdotdot(q.rows()) + { + } + + JntArray JntArrayAcc::value()const + { + return q; + } + + JntArray JntArrayAcc::deriv()const + { + return qdot; + } + JntArray JntArrayAcc::dderiv()const + { + return qdotdot; + } + + void Add(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest) + { + Add(src1.q,src2.q,dest.q); + Add(src1.qdot,src2.qdot,dest.qdot); + Add(src1.qdotdot,src2.qdotdot,dest.qdotdot); + } + void Add(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest) + { + Add(src1.q,src2.q,dest.q); + Add(src1.qdot,src2.qdot,dest.qdot); + dest.qdotdot=src1.qdotdot; + } + void Add(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest) + { + Add(src1.q,src2,dest.q); + dest.qdot=src1.qdot; + dest.qdotdot=src1.qdotdot; + } + + void Subtract(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest) + { + Subtract(src1.q,src2.q,dest.q); + Subtract(src1.qdot,src2.qdot,dest.qdot); + Subtract(src1.qdotdot,src2.qdotdot,dest.qdotdot); + } + void Subtract(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest) + { + Subtract(src1.q,src2.q,dest.q); + Subtract(src1.qdot,src2.qdot,dest.qdot); + dest.qdotdot=src1.qdotdot; + } + void Subtract(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest) + { + Subtract(src1.q,src2,dest.q); + dest.qdot=src1.qdot; + dest.qdotdot=src1.qdotdot; + } + + void Multiply(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest) + { + Multiply(src.q,factor,dest.q); + Multiply(src.qdot,factor,dest.qdot); + Multiply(src.qdotdot,factor,dest.qdotdot); + } + void Multiply(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest) + { + Multiply(src.qdot,factor.grad*2,dest.qdot); + Multiply(src.qdotdot,factor.t,dest.qdotdot); + Add(dest.qdot,dest.qdotdot,dest.qdotdot); + Multiply(src.q,factor.grad,dest.q); + Multiply(src.qdot,factor.t,dest.qdot); + Add(dest.qdot,dest.q,dest.qdot); + Multiply(src.q,factor.t,dest.q); + } + void Multiply(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest) + { + Multiply(src.q,factor.dd,dest.q); + Multiply(src.qdot,factor.d*2,dest.qdot); + Multiply(src.qdotdot,factor.t,dest.qdotdot); + Add(dest.qdotdot,dest.qdot,dest.qdotdot); + Add(dest.qdotdot,dest.q,dest.qdotdot); + Multiply(src.q,factor.d,dest.q); + Multiply(src.qdot,factor.t,dest.qdot); + Add(dest.qdot,dest.q,dest.qdot); + Multiply(src.q,factor.t,dest.q); + } + + void Divide(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest) + { + Divide(src.q,factor,dest.q); + Divide(src.qdot,factor,dest.qdot); + Divide(src.qdotdot,factor,dest.qdotdot); + } + void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest) + { + Multiply(src.q,(2*factor.grad*factor.grad)/(factor.t*factor.t*factor.t),dest.q); + Multiply(src.qdot,(2*factor.grad)/(factor.t*factor.t),dest.qdot); + Divide(src.qdotdot,factor.t,dest.qdotdot); + Subtract(dest.qdotdot,dest.qdot,dest.qdotdot); + Add(dest.qdotdot,dest.q,dest.qdotdot); + Multiply(src.q,factor.grad/(factor.t*factor.t),dest.q); + Divide(src.qdot,factor.t,dest.qdot); + Subtract(dest.qdot,dest.q,dest.qdot); + Divide(src.q,factor.t,dest.q); + } + void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest) + { + Multiply(src.q,(2*factor.d*factor.d)/(factor.t*factor.t*factor.t)-factor.dd/(factor.t*factor.t),dest.q); + Multiply(src.qdot,(2*factor.d)/(factor.t*factor.t),dest.qdot); + Divide(src.qdotdot,factor.t,dest.qdotdot); + Subtract(dest.qdotdot,dest.qdot,dest.qdotdot); + Add(dest.qdotdot,dest.q,dest.qdotdot); + Multiply(src.q,factor.d/(factor.t*factor.t),dest.q); + Divide(src.qdot,factor.t,dest.qdot); + Subtract(dest.qdot,dest.q,dest.qdot); + Divide(src.q,factor.t,dest.q); + } + + void SetToZero(JntArrayAcc& array) + { + SetToZero(array.q); + SetToZero(array.qdot); + SetToZero(array.qdotdot); + } + + bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps) + { + return (Equal(src1.q,src2.q,eps)&&Equal(src1.qdot,src2.qdot,eps)&&Equal(src1.qdotdot,src2.qdotdot,eps)); + } +} + + diff --git a/intern/itasc/kdl/jntarrayacc.hpp b/intern/itasc/kdl/jntarrayacc.hpp new file mode 100644 index 00000000000..275aa58f21e --- /dev/null +++ b/intern/itasc/kdl/jntarrayacc.hpp @@ -0,0 +1,66 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_JNTARRAYACC_HPP +#define KDL_JNTARRAYACC_HPP + +#include "utilities/utility.h" +#include "jntarray.hpp" +#include "jntarrayvel.hpp" +#include "frameacc.hpp" + +namespace KDL +{ + class JntArrayAcc + { + public: + JntArray q; + JntArray qdot; + JntArray qdotdot; + public: + JntArrayAcc(unsigned int size); + JntArrayAcc(const JntArray& q,const JntArray& qdot,const JntArray& qdotdot); + JntArrayAcc(const JntArray& q,const JntArray& qdot); + JntArrayAcc(const JntArray& q); + + JntArray value()const; + JntArray deriv()const; + JntArray dderiv()const; + + friend void Add(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest); + friend void Add(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest); + friend void Add(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest); + friend void Subtract(const JntArrayAcc& src1,const JntArrayAcc& src2,JntArrayAcc& dest); + friend void Subtract(const JntArrayAcc& src1,const JntArrayVel& src2,JntArrayAcc& dest); + friend void Subtract(const JntArrayAcc& src1,const JntArray& src2,JntArrayAcc& dest); + friend void Multiply(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest); + friend void Multiply(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest); + friend void Multiply(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest); + friend void Divide(const JntArrayAcc& src,const double& factor,JntArrayAcc& dest); + friend void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest); + friend void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest); + friend void SetToZero(JntArrayAcc& array); + friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps=epsilon); + + }; +} + +#endif diff --git a/intern/itasc/kdl/jntarrayvel.cpp b/intern/itasc/kdl/jntarrayvel.cpp new file mode 100644 index 00000000000..df5c7fb0fb3 --- /dev/null +++ b/intern/itasc/kdl/jntarrayvel.cpp @@ -0,0 +1,111 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + +#include "jntarrayacc.hpp" + +namespace KDL +{ + JntArrayVel::JntArrayVel(unsigned int size): + q(size),qdot(size) + { + } + JntArrayVel::JntArrayVel(const JntArray& qin, const JntArray& qdotin): + q(qin),qdot(qdotin) + { + assert(q.rows()==qdot.rows()); + } + JntArrayVel::JntArrayVel(const JntArray& qin): + q(qin),qdot(q.rows()) + { + } + + JntArray JntArrayVel::value()const + { + return q; + } + + JntArray JntArrayVel::deriv()const + { + return qdot; + } + + void Add(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest) + { + Add(src1.q,src2.q,dest.q); + Add(src1.qdot,src2.qdot,dest.qdot); + } + void Add(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest) + { + Add(src1.q,src2,dest.q); + dest.qdot=src1.qdot; + } + + void Subtract(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest) + { + Subtract(src1.q,src2.q,dest.q); + Subtract(src1.qdot,src2.qdot,dest.qdot); + } + void Subtract(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest) + { + Subtract(src1.q,src2,dest.q); + dest.qdot=src1.qdot; + } + + void Multiply(const JntArrayVel& src,const double& factor,JntArrayVel& dest) + { + Multiply(src.q,factor,dest.q); + Multiply(src.qdot,factor,dest.qdot); + } + void Multiply(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest) + { + Multiply(src.q,factor.grad,dest.q); + Multiply(src.qdot,factor.t,dest.qdot); + Add(dest.qdot,dest.q,dest.qdot); + Multiply(src.q,factor.t,dest.q); + } + + void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest) + { + Divide(src.q,factor,dest.q); + Divide(src.qdot,factor,dest.qdot); + } + void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest) + { + Multiply(src.q,(factor.grad/factor.t/factor.t),dest.q); + Divide(src.qdot,factor.t,dest.qdot); + Subtract(dest.qdot,dest.q,dest.qdot); + Divide(src.q,factor.t,dest.q); + } + + void SetToZero(JntArrayVel& array) + { + SetToZero(array.q); + SetToZero(array.qdot); + } + + bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps) + { + return Equal(src1.q,src2.q,eps)&&Equal(src1.qdot,src2.qdot,eps); + } +} + + diff --git a/intern/itasc/kdl/jntarrayvel.hpp b/intern/itasc/kdl/jntarrayvel.hpp new file mode 100644 index 00000000000..faa82076ebb --- /dev/null +++ b/intern/itasc/kdl/jntarrayvel.hpp @@ -0,0 +1,59 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_JNTARRAYVEL_HPP +#define KDL_JNTARRAYVEL_HPP + +#include "utilities/utility.h" +#include "jntarray.hpp" +#include "framevel.hpp" + +namespace KDL +{ + + class JntArrayVel + { + public: + JntArray q; + JntArray qdot; + public: + JntArrayVel(unsigned int size); + JntArrayVel(const JntArray& q,const JntArray& qdot); + JntArrayVel(const JntArray& q); + + JntArray value()const; + JntArray deriv()const; + + friend void Add(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest); + friend void Add(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest); + friend void Subtract(const JntArrayVel& src1,const JntArrayVel& src2,JntArrayVel& dest); + friend void Subtract(const JntArrayVel& src1,const JntArray& src2,JntArrayVel& dest); + friend void Multiply(const JntArrayVel& src,const double& factor,JntArrayVel& dest); + friend void Multiply(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest); + friend void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest); + friend void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest); + friend void SetToZero(JntArrayVel& array); + friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps=epsilon); + + }; +} + +#endif diff --git a/intern/itasc/kdl/joint.cpp b/intern/itasc/kdl/joint.cpp new file mode 100644 index 00000000000..dc5f17e5bf7 --- /dev/null +++ b/intern/itasc/kdl/joint.cpp @@ -0,0 +1,153 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "joint.hpp" + +namespace KDL { + + Joint::Joint(const JointType& _type, const double& _scale, const double& _offset, + const double& _inertia, const double& _damping, const double& _stiffness): + type(_type),scale(_scale),offset(_offset),inertia(_inertia),damping(_damping),stiffness(_stiffness) + { + // for sphere and swing, offset is not used, assume no offset + } + + Joint::Joint(const Joint& in): + type(in.type),scale(in.scale),offset(in.offset), + inertia(in.inertia),damping(in.damping),stiffness(in.stiffness) + { + } + + Joint& Joint::operator=(const Joint& in) + { + type=in.type; + scale=in.scale; + offset=in.offset; + inertia=in.inertia; + damping=in.damping; + stiffness=in.stiffness; + return *this; + } + + + Joint::~Joint() + { + } + + Frame Joint::pose(const double& q)const + { + + switch(type){ + case RotX: + return Frame(Rotation::RotX(scale*q+offset)); + break; + case RotY: + return Frame(Rotation::RotY(scale*q+offset)); + break; + case RotZ: + return Frame(Rotation::RotZ(scale*q+offset)); + break; + case TransX: + return Frame(Vector(scale*q+offset,0.0,0.0)); + break; + case TransY: + return Frame(Vector(0.0,scale*q+offset,0.0)); + break; + case TransZ: + return Frame(Vector(0.0,0.0,scale*q+offset)); + break; + case Sphere: + // the joint angles represent a rotation vector expressed in the base frame of the joint + // (= the frame you get when there is no offset nor rotation) + return Frame(Rot(Vector((&q)[0], (&q)[1], (&q)[2]))); + break; + case Swing: + // the joint angles represent a 2D rotation vector in the XZ planee of the base frame of the joint + // (= the frame you get when there is no offset nor rotation) + return Frame(Rot(Vector((&q)[0], 0.0, (&q)[1]))); + break; + default: + return Frame::Identity(); + break; + } + } + + Twist Joint::twist(const double& qdot, int dof)const + { + switch(type){ + case RotX: + return Twist(Vector(0.0,0.0,0.0),Vector(scale*qdot,0.0,0.0)); + break; + case RotY: + return Twist(Vector(0.0,0.0,0.0),Vector(0.0,scale*qdot,0.0)); + break; + case RotZ: + return Twist(Vector(0.0,0.0,0.0),Vector(0.0,0.0,scale*qdot)); + break; + case TransX: + return Twist(Vector(scale*qdot,0.0,0.0),Vector(0.0,0.0,0.0)); + break; + case TransY: + return Twist(Vector(0.0,scale*qdot,0.0),Vector(0.0,0.0,0.0)); + break; + case TransZ: + return Twist(Vector(0.0,0.0,scale*qdot),Vector(0.0,0.0,0.0)); + break; + case Swing: + switch (dof) { + case 0: + return Twist(Vector(0.0,0.0,0.0),Vector(scale*qdot,0.0,0.0)); + case 1: + return Twist(Vector(0.0,0.0,0.0),Vector(0.0,0.0,scale*qdot)); + } + return Twist::Zero(); + case Sphere: + switch (dof) { + case 0: + return Twist(Vector(0.0,0.0,0.0),Vector(scale*qdot,0.0,0.0)); + case 1: + return Twist(Vector(0.0,0.0,0.0),Vector(0.0,scale*qdot,0.0)); + case 2: + return Twist(Vector(0.0,0.0,0.0),Vector(0.0,0.0,scale*qdot)); + } + return Twist::Zero(); + default: + return Twist::Zero(); + break; + } + } + + unsigned int Joint::getNDof() const + { + switch (type) { + case Sphere: + return 3; + case Swing: + return 2; + case None: + return 0; + default: + return 1; + } + } + +} // end of namespace KDL + diff --git a/intern/itasc/kdl/joint.hpp b/intern/itasc/kdl/joint.hpp new file mode 100644 index 00000000000..a1291509f0f --- /dev/null +++ b/intern/itasc/kdl/joint.hpp @@ -0,0 +1,138 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_JOINT_HPP +#define KDL_JOINT_HPP + +#include "frames.hpp" +#include <string> + +namespace KDL { + + /** + * \brief This class encapsulates a simple joint, that is with one + * parameterized degree of freedom and with scalar dynamic properties. + * + * A simple joint is described by the following properties : + * - scale: ratio between motion input and motion output + * - offset: between the "physical" and the "logical" zero position. + * - type: revolute or translational, along one of the basic frame axes + * - inertia, stiffness and damping: scalars representing the physical + * effects along/about the joint axis only. + * + * @ingroup KinematicFamily + */ + class Joint { + public: + typedef enum { RotX,RotY,RotZ,TransX,TransY,TransZ,Sphere,Swing,None} JointType; + /** + * Constructor of a joint. + * + * @param type type of the joint, default: Joint::None + * @param scale scale between joint input and actual geometric + * movement, default: 1 + * @param offset offset between joint input and actual + * geometric input, default: 0 + * @param inertia 1D inertia along the joint axis, default: 0 + * @param damping 1D damping along the joint axis, default: 0 + * @param stiffness 1D stiffness along the joint axis, + * default: 0 + */ + Joint(const JointType& type=None,const double& scale=1,const double& offset=0, + const double& inertia=0,const double& damping=0,const double& stiffness=0); + Joint(const Joint& in); + + Joint& operator=(const Joint& arg); + + /** + * Request the 6D-pose between the beginning and the end of + * the joint at joint position q + * + * @param q the 1D joint position + * + * @return the resulting 6D-pose + */ + Frame pose(const double& q)const; + /** + * Request the resulting 6D-velocity with a joint velocity qdot + * + * @param qdot the 1D joint velocity + * + * @return the resulting 6D-velocity + */ + Twist twist(const double& qdot, int dof=0)const; + + /** + * Request the type of the joint. + * + * @return const reference to the type + */ + const JointType& getType() const + { + return type; + }; + + /** + * Request the stringified type of the joint. + * + * @return const string + */ + const std::string getTypeName() const + { + switch (type) { + case RotX: + return "RotX"; + case RotY: + return "RotY"; + case RotZ: + return "RotZ"; + case TransX: + return "TransX"; + case TransY: + return "TransY"; + case TransZ: + return "TransZ"; + case Sphere: + return "Sphere"; + case Swing: + return "Swing"; + case None: + return "None"; + default: + return "None"; + } + }; + unsigned int getNDof() const; + + virtual ~Joint(); + + private: + Joint::JointType type; + double scale; + double offset; + double inertia; + double damping; + double stiffness; + }; + +} // end of namespace KDL + +#endif diff --git a/intern/itasc/kdl/kinfam_io.cpp b/intern/itasc/kdl/kinfam_io.cpp new file mode 100644 index 00000000000..900e2e101a9 --- /dev/null +++ b/intern/itasc/kdl/kinfam_io.cpp @@ -0,0 +1,101 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "kinfam_io.hpp" +#include "frames_io.hpp" + +namespace KDL { +std::ostream& operator <<(std::ostream& os, const Joint& joint) { + return os << joint.getTypeName(); +} + +std::istream& operator >>(std::istream& is, Joint& joint) { + return is; +} + +std::ostream& operator <<(std::ostream& os, const Segment& segment) { + os << "[" << segment.getJoint() << ",\n" << segment.getFrameToTip() << "]"; + return os; +} + +std::istream& operator >>(std::istream& is, Segment& segment) { + return is; +} + +std::ostream& operator <<(std::ostream& os, const Chain& chain) { + os << "["; + for (unsigned int i = 0; i < chain.getNrOfSegments(); i++) + os << chain.getSegment(i) << "\n"; + os << "]"; + return os; +} + +std::istream& operator >>(std::istream& is, Chain& chain) { + return is; +} + +std::ostream& operator <<(std::ostream& os, const Tree& tree) { + SegmentMap::const_iterator root = tree.getSegment("root"); + return os << root; +} + +std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator root) { + //os<<root->first<<": "<<root->second.segment<<"\n"; + os << root->first<<"(q_nr: "<<root->second.q_nr<<")"<<"\n \t"; + for (unsigned int i = 0; i < root->second.children.size(); i++) { + os <<(root->second.children[i])<<"\t"; + } + return os << "\n"; +} + +std::istream& operator >>(std::istream& is, Tree& tree) { + return is; +} + +std::ostream& operator <<(std::ostream& os, const JntArray& array) { + os << "["; + for (unsigned int i = 0; i < array.rows(); i++) + os << std::setw(KDL_FRAME_WIDTH) << array(i); + os << "]"; + return os; +} + +std::istream& operator >>(std::istream& is, JntArray& array) { + return is; +} + +std::ostream& operator <<(std::ostream& os, const Jacobian& jac) { + os << "["; + for (unsigned int i = 0; i < jac.rows(); i++) { + for (unsigned int j = 0; j < jac.columns(); j++) + os << std::setw(KDL_FRAME_WIDTH) << jac(i, j); + os << std::endl; + } + os << "]"; + return os; +} + +std::istream& operator >>(std::istream& is, Jacobian& jac) { + return is; +} + +} + diff --git a/intern/itasc/kdl/kinfam_io.hpp b/intern/itasc/kdl/kinfam_io.hpp new file mode 100644 index 00000000000..a8dbfd1c5dc --- /dev/null +++ b/intern/itasc/kdl/kinfam_io.hpp @@ -0,0 +1,70 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_KINFAM_IO_HPP +#define KDL_KINFAM_IO_HPP + +#include <iostream> +#include <fstream> + +#include "joint.hpp" +#include "segment.hpp" +#include "chain.hpp" +#include "jntarray.hpp" +#include "jacobian.hpp" +#include "tree.hpp" + +namespace KDL { +std::ostream& operator <<(std::ostream& os, const Joint& joint); +std::istream& operator >>(std::istream& is, Joint& joint); +std::ostream& operator <<(std::ostream& os, const Segment& segment); +std::istream& operator >>(std::istream& is, Segment& segment); +std::ostream& operator <<(std::ostream& os, const Chain& chain); +std::istream& operator >>(std::istream& is, Chain& chain); + +std::ostream& operator <<(std::ostream& os, const Tree& tree); +std::istream& operator >>(std::istream& is, Tree& tree); + +std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator it); + +std::ostream& operator <<(std::ostream& os, const JntArray& array); +std::istream& operator >>(std::istream& is, JntArray& array); +std::ostream& operator <<(std::ostream& os, const Jacobian& jac); +std::istream& operator >>(std::istream& is, Jacobian& jac); + +template<typename T> +std::ostream& operator<<(std::ostream& os, const std::vector<T>& vec) { + os << "["; + for (unsigned int i = 0; i < vec.size(); i++) + os << vec[i] << " "; + os << "]"; + return os; +} +; + +template<typename T> +std::istream& operator >>(std::istream& is, std::vector<T>& vec) { + return is; +} +; +} +#endif + diff --git a/intern/itasc/kdl/segment.cpp b/intern/itasc/kdl/segment.cpp new file mode 100644 index 00000000000..02f71d5e9f1 --- /dev/null +++ b/intern/itasc/kdl/segment.cpp @@ -0,0 +1,68 @@ +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "segment.hpp" + +namespace KDL { + + Segment::Segment(const Joint& _joint, const Frame& _f_tip, const Inertia& _M): + joint(_joint),M(_M), + f_tip(_f_tip) + { + } + + Segment::Segment(const Segment& in): + joint(in.joint),M(in.M), + f_tip(in.f_tip) + { + } + + Segment& Segment::operator=(const Segment& arg) + { + joint=arg.joint; + M=arg.M; + f_tip=arg.f_tip; + return *this; + } + + Segment::~Segment() + { + } + + Frame Segment::pose(const double& q)const + { + return joint.pose(q)*f_tip; + } + + Twist Segment::twist(const double& q, const double& qdot, int dof)const + { + return joint.twist(qdot, dof).RefPoint(pose(q).p); + } + + Twist Segment::twist(const Vector& p, const double& qdot, int dof)const + { + return joint.twist(qdot, dof).RefPoint(p); + } + + Twist Segment::twist(const Frame& f, const double& qdot, int dof)const + { + return (f.M*joint.twist(qdot, dof)).RefPoint(f.p); + } +}//end of namespace KDL + diff --git a/intern/itasc/kdl/segment.hpp b/intern/itasc/kdl/segment.hpp new file mode 100644 index 00000000000..7c82ab418fa --- /dev/null +++ b/intern/itasc/kdl/segment.hpp @@ -0,0 +1,149 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + +#ifndef KDL_SEGMENT_HPP +#define KDL_SEGMENT_HPP + +#include "frames.hpp" +#include "inertia.hpp" +#include "joint.hpp" +#include <vector> + +namespace KDL { + + /** + * \brief This class encapsulates a simple segment, that is a "rigid + * body" (i.e., a frame and an inertia) with a joint and with + * "handles", root and tip to connect to other segments. + * + * A simple segment is described by the following properties : + * - Joint + * - inertia: of the rigid body part of the Segment + * - Offset from the end of the joint to the tip of the segment: + * the joint is located at the root of the segment. + * + * @ingroup KinematicFamily + */ + class Segment { + friend class Chain; + private: + Joint joint; + Inertia M; + Frame f_tip; + + public: + /** + * Constructor of the segment + * + * @param joint joint of the segment, default: + * Joint(Joint::None) + * @param f_tip frame from the end of the joint to the tip of + * the segment, default: Frame::Identity() + * @param M rigid body inertia of the segment, default: Inertia::Zero() + */ + Segment(const Joint& joint=Joint(), const Frame& f_tip=Frame::Identity(),const Inertia& M = Inertia::Zero()); + Segment(const Segment& in); + Segment& operator=(const Segment& arg); + + virtual ~Segment(); + + /** + * Request the pose of the segment, given the joint position q. + * + * @param q 1D position of the joint + * + * @return pose from the root to the tip of the segment + */ + Frame pose(const double& q)const; + /** + * Request the 6D-velocity of the tip of the segment, given + * the joint position q and the joint velocity qdot. + * + * @param q ND position of the joint + * @param qdot ND velocity of the joint + * + * @return 6D-velocity of the tip of the segment, expressed + *in the base-frame of the segment(root) and with the tip of + *the segment as reference point. + */ + Twist twist(const double& q,const double& qdot, int dof=0)const; + + /** + * Request the 6D-velocity at a given point p, relative to base frame of the segment + * givven the joint velocity qdot. + * + * @param p reference point + * @param qdot ND velocity of the joint + * + * @return 6D-velocity at a given point p, expressed + * in the base-frame of the segment(root) + */ + Twist twist(const Vector& p, const double& qdot, int dof=0)const; + + /** + * Request the 6D-velocity at a given frame origin, relative to base frame of the segment + * assuming the frame rotation is the rotation of the joint. + * + * @param f joint pose frame + reference point + * @param qdot ND velocity of the joint + * + * @return 6D-velocity at frame reference point, expressed + * in the base-frame of the segment(root) + */ + Twist twist(const Frame& f, const double& qdot, int dof)const; + + /** + * Request the joint of the segment + * + * + * @return const reference to the joint of the segment + */ + const Joint& getJoint()const + { + return joint; + } + /** + * Request the inertia of the segment + * + * + * @return const reference to the inertia of the segment + */ + const Inertia& getInertia()const + { + return M; + } + + /** + * Request the pose from the joint end to the tip of the + *segment. + * + * @return const reference to the joint end - segment tip pose. + */ + const Frame& getFrameToTip()const + { + return f_tip; + } + + }; +}//end of namespace KDL + +#endif diff --git a/intern/itasc/kdl/tree.cpp b/intern/itasc/kdl/tree.cpp new file mode 100644 index 00000000000..f117e54959b --- /dev/null +++ b/intern/itasc/kdl/tree.cpp @@ -0,0 +1,117 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "tree.hpp" +#include <sstream> +namespace KDL { +using namespace std; + +Tree::Tree() : + nrOfJoints(0), nrOfSegments(0) { + segments.insert(make_pair("root", TreeElement::Root())); +} + +Tree::Tree(const Tree& in) { + segments.clear(); + nrOfSegments = 0; + nrOfJoints = 0; + + segments.insert(make_pair("root", TreeElement::Root())); + this->addTree(in, "", "root"); + +} + +Tree& Tree::operator=(const Tree& in) { + segments.clear(); + nrOfSegments = 0; + nrOfJoints = 0; + + segments.insert(make_pair("root", TreeElement::Root())); + this->addTree(in, "", "root"); + return *this; +} + +bool Tree::addSegment(const Segment& segment, const std::string& segment_name, + const std::string& hook_name) { + SegmentMap::iterator parent = segments.find(hook_name); + //check if parent exists + if (parent == segments.end()) + return false; + pair<SegmentMap::iterator, bool> retval; + //insert new element + retval = segments.insert(make_pair(segment_name, TreeElement(segment, + parent, nrOfJoints))); + //check if insertion succeeded + if (!retval.second) + return false; + //add iterator to new element in parents children list + parent->second.children.push_back(retval.first); + //increase number of segments + nrOfSegments++; + //increase number of joints + nrOfJoints += segment.getJoint().getNDof(); + return true; +} + +bool Tree::addChain(const Chain& chain, const std::string& chain_name, + const std::string& hook_name) { + string parent_name = hook_name; + for (unsigned int i = 0; i < chain.getNrOfSegments(); i++) { + ostringstream segment_name; + segment_name << chain_name << "Segment" << i; + if (this->addSegment(chain.getSegment(i), segment_name.str(), + parent_name)) + parent_name = segment_name.str(); + else + return false; + } + return true; +} + +bool Tree::addTree(const Tree& tree, const std::string& tree_name, + const std::string& hook_name) { + return this->addTreeRecursive(tree.getSegment("root"), tree_name, hook_name); +} + +bool Tree::addTreeRecursive(SegmentMap::const_iterator root, + const std::string& tree_name, const std::string& hook_name) { + //get iterator for root-segment + SegmentMap::const_iterator child; + //try to add all of root's children + for (unsigned int i = 0; i < root->second.children.size(); i++) { + child = root->second.children[i]; + //Try to add the child + if (this->addSegment(child->second.segment, tree_name + child->first, + hook_name)) { + //if child is added, add all the child's children + if (!(this->addTreeRecursive(child, tree_name, tree_name + + child->first))) + //if it didn't work, return false + return false; + } else + //If the child could not be added, return false + return false; + } + return true; +} + +} + diff --git a/intern/itasc/kdl/tree.hpp b/intern/itasc/kdl/tree.hpp new file mode 100644 index 00000000000..bdd3aa94572 --- /dev/null +++ b/intern/itasc/kdl/tree.hpp @@ -0,0 +1,167 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_TREE_HPP +#define KDL_TREE_HPP + +#include "segment.hpp" +#include "chain.hpp" + +#include <string> +#include <map> + +namespace KDL +{ + //Forward declaration + class TreeElement; + typedef std::map<std::string,TreeElement> SegmentMap; + + class TreeElement + { + private: + TreeElement():q_nr(0) + {}; + public: + Segment segment; + unsigned int q_nr; + SegmentMap::const_iterator parent; + std::vector<SegmentMap::const_iterator > children; + TreeElement(const Segment& segment_in,const SegmentMap::const_iterator& parent_in,unsigned int q_nr_in) + { + q_nr=q_nr_in; + segment=segment_in; + parent=parent_in; + }; + static TreeElement Root() + { + return TreeElement(); + }; + }; + + /** + * \brief This class encapsulates a <strong>tree</strong> + * kinematic interconnection structure. It is build out of segments. + * + * @ingroup KinematicFamily + */ + class Tree + { + private: + SegmentMap segments; + unsigned int nrOfJoints; + unsigned int nrOfSegments; + + bool addTreeRecursive(SegmentMap::const_iterator root, const std::string& tree_name, const std::string& hook_name); + + public: + /** + * The constructor of a tree, a new tree is always empty + */ + Tree(); + Tree(const Tree& in); + Tree& operator= (const Tree& arg); + + /** + * Adds a new segment to the end of the segment with + * hook_name as segment_name + * + * @param segment new segment to add + * @param segment_name name of the new segment + * @param hook_name name of the segment to connect this + * segment with. + * + * @return false if hook_name could not be found. + */ + bool addSegment(const Segment& segment, const std::string& segment_name, const std::string& hook_name); + + /** + * Adds a complete chain to the end of the segment with + * hook_name as segment_name. Segment i of + * the chain will get chain_name+".Segment"+i as segment_name. + * + * @param chain Chain to add + * @param chain_name name of the chain + * @param hook_name name of the segment to connect the chain with. + * + * @return false if hook_name could not be found. + */ + bool addChain(const Chain& chain, const std::string& chain_name, const std::string& hook_name); + + /** + * Adds a complete tree to the end of the segment with + * hookname as segment_name. The segments of the tree will get + * tree_name+segment_name as segment_name. + * + * @param tree Tree to add + * @param tree_name name of the tree + * @param hook_name name of the segment to connect the tree with + * + * @return false if hook_name could not be found + */ + bool addTree(const Tree& tree, const std::string& tree_name,const std::string& hook_name); + + /** + * Request the total number of joints in the tree.\n + * <strong> Important:</strong> It is not the same as the + * total number of segments since a segment does not need to have + * a joint. + * + * @return total nr of joints + */ + unsigned int getNrOfJoints()const + { + return nrOfJoints; + }; + + /** + * Request the total number of segments in the tree. + * @return total number of segments + */ + unsigned int getNrOfSegments()const {return nrOfSegments;}; + + /** + * Request the segment of the tree with name segment_name. + * + * @param segment_name the name of the requested segment + * + * @return constant iterator pointing to the requested segment + */ + SegmentMap::const_iterator getSegment(const std::string& segment_name)const + { + return segments.find(segment_name); + }; + + + + const SegmentMap& getSegments()const + { + return segments; + } + + virtual ~Tree(){}; + }; +} +#endif + + + + + diff --git a/intern/itasc/kdl/treefksolver.hpp b/intern/itasc/kdl/treefksolver.hpp new file mode 100644 index 00000000000..22d5400ab0a --- /dev/null +++ b/intern/itasc/kdl/treefksolver.hpp @@ -0,0 +1,110 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Copyright (C) 2008 Julia Jesse + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDL_TREE_FKSOLVER_HPP +#define KDL_TREE_FKSOLVER_HPP + +#include <string> + +#include "tree.hpp" +//#include "framevel.hpp" +//#include "frameacc.hpp" +#include "jntarray.hpp" +//#include "jntarrayvel.hpp" +//#include "jntarrayacc.hpp" + +namespace KDL { + + /** + * \brief This <strong>abstract</strong> class encapsulates a + * solver for the forward position kinematics for a KDL::Tree. + * + * @ingroup KinematicFamily + */ + + //Forward definition + class TreeFkSolverPos { + public: + /** + * Calculate forward position kinematics for a KDL::Tree, + * from joint coordinates to cartesian pose. + * + * @param q_in input joint coordinates + * @param p_out reference to output cartesian pose + * + * @return if < 0 something went wrong + */ + virtual int JntToCart(const JntArray& q_in, Frame& p_out, const std::string& segmentName, const std::string& baseName)=0; + virtual ~TreeFkSolverPos(){}; + }; + + /** + * \brief This <strong>abstract</strong> class encapsulates a solver + * for the forward velocity kinematics for a KDL::Tree. + * + * @ingroup KinematicFamily + */ +// class TreeFkSolverVel { +// public: + /** + * Calculate forward position and velocity kinematics, from + * joint coordinates to cartesian coordinates. + * + * @param q_in input joint coordinates (position and velocity) + * @param out output cartesian coordinates (position and velocity) + * + * @return if < 0 something went wrong + */ +// virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0; + +// virtual ~TreeFkSolverVel(){}; +// }; + + /** + * \brief This <strong>abstract</strong> class encapsulates a solver + * for the forward acceleration kinematics for a KDL::Tree. + * + * @ingroup KinematicFamily + */ + +// class TreeFkSolverAcc { +// public: + /** + * Calculate forward position, velocity and accelaration + * kinematics, from joint coordinates to cartesian coordinates + * + * @param q_in input joint coordinates (position, velocity and + * acceleration + @param out output cartesian coordinates (position, velocity + * and acceleration + * + * @return if < 0 something went wrong + */ +// virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0; + +// virtual ~TreeFkSolverAcc()=0; +// }; + + +}//end of namespace KDL + +#endif diff --git a/intern/itasc/kdl/treefksolverpos_recursive.cpp b/intern/itasc/kdl/treefksolverpos_recursive.cpp new file mode 100644 index 00000000000..8c54906dcf4 --- /dev/null +++ b/intern/itasc/kdl/treefksolverpos_recursive.cpp @@ -0,0 +1,71 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Copyright (C) 2008 Julia Jesse + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#include "treefksolverpos_recursive.hpp" +#include <iostream> + +namespace KDL { + + TreeFkSolverPos_recursive::TreeFkSolverPos_recursive(const Tree& _tree): + tree(_tree) + { + } + + int TreeFkSolverPos_recursive::JntToCart(const JntArray& q_in, Frame& p_out, const std::string& segmentName, const std::string& baseName) + { + SegmentMap::const_iterator it = tree.getSegment(segmentName); + SegmentMap::const_iterator baseit = tree.getSegment(baseName); + + if(q_in.rows() != tree.getNrOfJoints()) + return -1; + else if(it == tree.getSegments().end()) //if the segment name is not found + return -2; + else if(baseit == tree.getSegments().end()) //if the base segment name is not found + return -3; + else{ + const TreeElement& currentElement = it->second; + p_out = recursiveFk(q_in, it, baseit); + return 0; + } + } + + Frame TreeFkSolverPos_recursive::recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it, const SegmentMap::const_iterator& baseit) + { + //gets the frame for the current element (segment) + const TreeElement& currentElement = it->second; + + if(it == baseit){ + return KDL::Frame::Identity(); + } + else{ + Frame currentFrame = currentElement.segment.pose(((JntArray&)q_in)(currentElement.q_nr)); + SegmentMap::const_iterator parentIt = currentElement.parent; + return recursiveFk(q_in, parentIt, baseit) * currentFrame; + } + } + + TreeFkSolverPos_recursive::~TreeFkSolverPos_recursive() + { + } + + +} diff --git a/intern/itasc/kdl/treefksolverpos_recursive.hpp b/intern/itasc/kdl/treefksolverpos_recursive.hpp new file mode 100644 index 00000000000..c22fe4af75b --- /dev/null +++ b/intern/itasc/kdl/treefksolverpos_recursive.hpp @@ -0,0 +1,53 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Copyright (C) 2008 Julia Jesse + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +#ifndef KDLTREEFKSOLVERPOS_RECURSIVE_HPP +#define KDLTREEFKSOLVERPOS_RECURSIVE_HPP + +#include "treefksolver.hpp" + +namespace KDL { + + /** + * Implementation of a recursive forward position kinematics + * algorithm to calculate the position transformation from joint + * space to Cartesian space of a general kinematic tree (KDL::Tree). + * + * @ingroup KinematicFamily + */ + class TreeFkSolverPos_recursive : public TreeFkSolverPos + { + public: + TreeFkSolverPos_recursive(const Tree& tree); + ~TreeFkSolverPos_recursive(); + + virtual int JntToCart(const JntArray& q_in, Frame& p_out, const std::string& segmentName, const std::string& baseName); + + private: + const Tree tree; + + Frame recursiveFk(const JntArray& q_in, const SegmentMap::const_iterator& it, const SegmentMap::const_iterator& baseit); + }; + +} + +#endif diff --git a/intern/itasc/kdl/treejnttojacsolver.cpp b/intern/itasc/kdl/treejnttojacsolver.cpp new file mode 100644 index 00000000000..194f18eb959 --- /dev/null +++ b/intern/itasc/kdl/treejnttojacsolver.cpp @@ -0,0 +1,78 @@ +/* + * TreeJntToJacSolver.cpp + * + * Created on: Nov 27, 2008 + * Author: rubensmits + */ + +#include "treejnttojacsolver.hpp" +#include <iostream> + +namespace KDL { + +TreeJntToJacSolver::TreeJntToJacSolver(const Tree& tree_in) : + tree(tree_in) { +} + +TreeJntToJacSolver::~TreeJntToJacSolver() { +} + +int TreeJntToJacSolver::JntToJac(const JntArray& q_in, Jacobian& jac, + const std::string& segmentname) { + //First we check all the sizes: + if (q_in.rows() != tree.getNrOfJoints() || jac.columns() + != tree.getNrOfJoints()) + return -1; + + //Lets search the tree-element + SegmentMap::const_iterator it = tree.getSegments().find(segmentname); + + //If segmentname is not inside the tree, back out: + if (it == tree.getSegments().end()) + return -2; + + //Let's make the jacobian zero: + SetToZero(jac); + + SegmentMap::const_iterator root = tree.getSegments().find("root"); + + Frame T_total = Frame::Identity(); + Frame T_local, T_joint; + Twist t_local; + //Lets recursively iterate until we are in the root segment + while (it != root) { + //get the corresponding q_nr for this TreeElement: + unsigned int q_nr = it->second.q_nr; + + //get the pose of the joint. + T_joint = it->second.segment.getJoint().pose(((JntArray&)q_in)(q_nr)); + // combine with the tip to have the tip pose + T_local = T_joint*it->second.segment.getFrameToTip(); + //calculate new T_end: + T_total = T_local * T_total; + + //get the twist of the segment: + int ndof = it->second.segment.getJoint().getNDof(); + for (int dof=0; dof<ndof; dof++) { + // combine joint rotation with tip position to get a reference frame for the joint + T_joint.p = T_local.p; + // in which the twist can be computed (needed for NDof joint) + t_local = it->second.segment.twist(T_joint, 1.0, dof); + //transform the endpoint of the local twist to the global endpoint: + t_local = t_local.RefPoint(T_total.p - T_local.p); + //transform the base of the twist to the endpoint + t_local = T_total.M.Inverse(t_local); + //store the twist in the jacobian: + jac.twists[q_nr+dof] = t_local; + } + //goto the parent + it = it->second.parent; + }//endwhile + //Change the base of the complete jacobian from the endpoint to the base + changeBase(jac, T_total.M, jac); + + return 0; + +}//end JntToJac +}//end namespace + diff --git a/intern/itasc/kdl/treejnttojacsolver.hpp b/intern/itasc/kdl/treejnttojacsolver.hpp new file mode 100644 index 00000000000..40977dcd577 --- /dev/null +++ b/intern/itasc/kdl/treejnttojacsolver.hpp @@ -0,0 +1,38 @@ +/* + * TreeJntToJacSolver.hpp + * + * Created on: Nov 27, 2008 + * Author: rubensmits + */ + +#ifndef TREEJNTTOJACSOLVER_HPP_ +#define TREEJNTTOJACSOLVER_HPP_ + +#include "tree.hpp" +#include "jacobian.hpp" +#include "jntarray.hpp" + +namespace KDL { + +class TreeJntToJacSolver { +public: + TreeJntToJacSolver(const Tree& tree); + + virtual ~TreeJntToJacSolver(); + + /* + * Calculate the jacobian for a part of the tree: from a certain segment, given by segmentname to the root. + * The resulting jacobian is expressed in the baseframe of the tree ("root"), the reference point is in the end-segment + */ + + int JntToJac(const JntArray& q_in, Jacobian& jac, + const std::string& segmentname); + +private: + KDL::Tree tree; + +}; + +}//End of namespace + +#endif /* TREEJNTTOJACSOLVER_H_ */ diff --git a/intern/itasc/kdl/utilities/Makefile b/intern/itasc/kdl/utilities/Makefile new file mode 100644 index 00000000000..26bd7cfb470 --- /dev/null +++ b/intern/itasc/kdl/utilities/Makefile @@ -0,0 +1,37 @@ +# +# $Id: Makefile 19905 2009-04-23 13:29:54Z ben2610 $ +# +# ***** BEGIN GPL LICENSE BLOCK ***** +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 +# of the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software Foundation, +# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. +# All rights reserved. +# +# The Original Code is: all of this file. +# +# Contributor(s): Hans Lambermont +# +# ***** END GPL LICENSE BLOCK ***** +# iksolver main makefile. +# + +LIBNAME = itasc +DIR = $(OCGDIR)/intern/$(LIBNAME) + +include nan_compile.mk + +CPPFLAGS += -I. +CPPFLAGS += -I../../../../extern/Eigen2 diff --git a/intern/itasc/kdl/utilities/error.h b/intern/itasc/kdl/utilities/error.h new file mode 100644 index 00000000000..c6cf916c151 --- /dev/null +++ b/intern/itasc/kdl/utilities/error.h @@ -0,0 +1,245 @@ +/*************************************************************************** + tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 error.h + + error.h - description + ------------------- + begin : Mon January 10 2005 + copyright : (C) 2005 Erwin Aertbelien + email : erwin.aertbelien@mech.kuleuven.ac.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU Lesser General Public * + * License as published by the Free Software Foundation; either * + * version 2.1 of the License, or (at your option) any later version. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU Lesser General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + +/***************************************************************************** + * \file + * Defines the exception classes that can be thrown + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id: error.h 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + ****************************************************************************/ +#ifndef ERROR_H_84822 // to make it unique, a random number +#define ERROR_H_84822 + +#include "utility.h" +#include <string> + +namespace KDL { + +/** + * Base class for errors generated by ORO_Geometry + */ +class Error { +public: + /** Returns a description string describing the error. + * the returned pointer only garanteed to exists as long as + * the Error object exists. + */ + virtual ~Error() {} + virtual const char* Description() const {return "Unspecified Error\n";} + + virtual int GetType() const {return 0;} +}; + + +class Error_IO : public Error { + std::string msg; + int typenr; +public: + Error_IO(const std::string& _msg="Unspecified I/O Error",int typenr=0):msg(_msg) {} + virtual const char* Description() const {return msg.c_str();} + virtual int GetType() const {return typenr;} +}; +class Error_BasicIO : public Error_IO {}; +class Error_BasicIO_File : public Error_BasicIO { +public: + virtual const char* Description() const {return "Error while reading stream";} + virtual int GetType() const {return 1;} +}; +class Error_BasicIO_Exp_Delim : public Error_BasicIO { +public: + virtual const char* Description() const {return "Expected Delimiter not encountered";} + virtual int GetType() const {return 2;} +}; +class Error_BasicIO_Not_A_Space : public Error_BasicIO { +public: + virtual const char* Description() const {return "Expected space,tab or newline not encountered";} + virtual int GetType() const {return 3;} +}; +class Error_BasicIO_Unexpected : public Error_BasicIO { +public: + virtual const char* Description() const {return "Unexpected character";} + virtual int GetType() const {return 4;} +}; + +class Error_BasicIO_ToBig : public Error_BasicIO { +public: + virtual const char* Description() const {return "Word that is read out of stream is bigger than maxsize";} + virtual int GetType() const {return 5;} +}; + +class Error_BasicIO_Not_Opened : public Error_BasicIO { +public: + virtual const char* Description() const {return "File cannot be opened";} + virtual int GetType() const {return 6;} +}; +class Error_FrameIO : public Error_IO {}; +class Error_Frame_Vector_Unexpected_id : public Error_FrameIO { +public: + virtual const char* Description() const {return "Unexpected identifier, expecting a vector (explicit or ZERO)";} + virtual int GetType() const {return 101;} +}; +class Error_Frame_Frame_Unexpected_id : public Error_FrameIO { +public: + virtual const char* Description() const {return "Unexpected identifier, expecting a Frame (explicit or DH)";} + virtual int GetType() const {return 102;} +}; +class Error_Frame_Rotation_Unexpected_id : public Error_FrameIO { +public: + virtual const char* Description() const {return "Unexpected identifier, expecting a Rotation (explicit or EULERZYX, EULERZYZ, RPY,ROT,IDENTITY)";} + virtual int GetType() const {return 103;} +}; +class Error_ChainIO : public Error {}; +class Error_Chain_Unexpected_id : public Error_ChainIO { +public: + virtual const char* Description() const {return "Unexpected identifier, expecting TRANS or ROT";} + virtual int GetType() const {return 201;} +}; +//! Error_Redundancy indicates an error that occured during solving for redundancy. +class Error_RedundancyIO:public Error_IO {}; +class Error_Redundancy_Illegal_Resolutiontype : public Error_RedundancyIO { +public: + virtual const char* Description() const {return "Illegal Resolutiontype is used in I/O with ResolutionTask";} + virtual int GetType() const {return 301;} +}; +class Error_Redundancy:public Error {}; +class Error_Redundancy_Unavoidable : public Error_Redundancy { +public: + virtual const char* Description() const {return "Joint limits cannot be avoided";} + virtual int GetType() const {return 1002;} +}; +class Error_Redundancy_Low_Manip: public Error_Redundancy { +public: + virtual const char* Description() const {return "Manipulability is very low";} + virtual int GetType() const {return 1003;} +}; +class Error_MotionIO : public Error {}; +class Error_MotionIO_Unexpected_MotProf : public Error_MotionIO { +public: + virtual const char* Description() const { return "Wrong keyword while reading motion profile";} + virtual int GetType() const {return 2001;} +}; +class Error_MotionIO_Unexpected_Traj : public Error_MotionIO { +public: + virtual const char* Description() const { return "Trajectory type keyword not known";} + virtual int GetType() const {return 2002;} +}; + +class Error_MotionPlanning : public Error {}; + +class Error_MotionPlanning_Circle_ToSmall : public Error_MotionPlanning { +public: + virtual const char* Description() const { return "Circle : radius is to small";} + virtual int GetType() const {return 3001;} +}; + +class Error_MotionPlanning_Circle_No_Plane : public Error_MotionPlanning { +public: + virtual const char* Description() const { return "Circle : Plane for motion is not properly defined";} + virtual int GetType() const {return 3002;} +}; + +class Error_MotionPlanning_Incompatible: public Error_MotionPlanning { +public: + virtual const char* Description() const { return "Acceleration of a rectangular velocityprofile cannot be used";} + virtual int GetType() const {return 3003;} +}; + +class Error_MotionPlanning_Not_Feasible: public Error_MotionPlanning { +public: + virtual const char* Description() const { return "Motion Profile with requested parameters is not feasible";} + virtual int GetType() const {return 3004;} +}; + +class Error_MotionPlanning_Not_Applicable: public Error_MotionPlanning { +public: + virtual const char* Description() const { return "Method is not applicable for this derived object";} + virtual int GetType() const {return 3004;} +}; +//! Abstract subclass of all errors that can be thrown by Adaptive_Integrator +class Error_Integrator : public Error {}; + +//! Error_Stepsize_Underflow is thrown if the stepsize becomes to small +class Error_Stepsize_Underflow : public Error_Integrator { +public: + virtual const char* Description() const { return "Stepsize Underflow";} + virtual int GetType() const {return 4001;} +}; + +//! Error_To_Many_Steps is thrown if the number of steps needed to +//! integrate to the desired accuracy becomes to big. +class Error_To_Many_Steps : public Error_Integrator { +public: + virtual const char* Description() const { return "To many steps"; } + virtual int GetType() const {return 4002;} +}; + +//! Error_Stepsize_To_Small is thrown if the stepsize becomes to small +class Error_Stepsize_To_Small : public Error_Integrator { +public: + virtual const char* Description() const { return "Stepsize to small"; } + virtual int GetType() const {return 4003;} +}; + +class Error_Criterium : public Error {}; + +class Error_Criterium_Unexpected_id: public Error_Criterium { +public: + virtual const char* Description() const { return "Unexpected identifier while reading a criterium"; } + virtual int GetType() const {return 5001;} +}; + +class Error_Limits : public Error {}; + +class Error_Limits_Unexpected_id: public Error_Limits { +public: + virtual const char* Description() const { return "Unexpected identifier while reading a jointlimits"; } + virtual int GetType() const {return 6001;} +}; + + +class Error_Not_Implemented: public Error { +public: + virtual const char* Description() const { return "The requested object/method/function is not implemented"; } + virtual int GetType() const {return 7000;} +}; + + + +} + +#endif diff --git a/intern/itasc/kdl/utilities/error_stack.cpp b/intern/itasc/kdl/utilities/error_stack.cpp new file mode 100644 index 00000000000..aabf47ad191 --- /dev/null +++ b/intern/itasc/kdl/utilities/error_stack.cpp @@ -0,0 +1,59 @@ +/***************************************************************************** + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id: error_stack.cpp 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + ****************************************************************************/ + + +#include "error_stack.h" +#include <stack> +#include <vector> +#include <string> +#include <cstring> + +namespace KDL { + +// Trace of the call stack of the I/O routines to help user +// interprete error messages from I/O +typedef std::stack<std::string> ErrorStack; + +ErrorStack errorstack; +// should be in Thread Local Storage if this gets multithreaded one day... + + +void IOTrace(const std::string& description) { + errorstack.push(description); +} + + +void IOTracePop() { + errorstack.pop(); +} + +void IOTraceOutput(std::ostream& os) { + while (!errorstack.empty()) { + os << errorstack.top().c_str() << std::endl; + errorstack.pop(); + } +} + + +void IOTracePopStr(char* buffer,int size) { + if (errorstack.empty()) { + *buffer = 0; + return; + } + strncpy(buffer,errorstack.top().c_str(),size); + errorstack.pop(); +} + +} diff --git a/intern/itasc/kdl/utilities/error_stack.h b/intern/itasc/kdl/utilities/error_stack.h new file mode 100644 index 00000000000..918bc0786a6 --- /dev/null +++ b/intern/itasc/kdl/utilities/error_stack.h @@ -0,0 +1,70 @@ +/*************************************************************************** + tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 error_stack.h + + error_stack.h - description + ------------------- + begin : Mon January 10 2005 + copyright : (C) 2005 Erwin Aertbelien + email : erwin.aertbelien@mech.kuleuven.ac.be + + *************************************************************************** + * This library is free software; you can redistribute it and/or * + * modify it under the terms of the GNU Lesser General Public * + * License as published by the Free Software Foundation; either * + * version 2.1 of the License, or (at your option) any later version. * + * * + * This library is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * + * Lesser General Public License for more details. * + * * + * You should have received a copy of the GNU Lesser General Public * + * License along with this library; if not, write to the Free Software * + * Foundation, Inc., 59 Temple Place, * + * Suite 330, Boston, MA 02111-1307 USA * + * * + ***************************************************************************/ + + +/** + * \file + * \author Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * \version + * ORO_Geometry V0.2 + * + * \par history + * - changed layout of the comments to accomodate doxygen + */ +#ifndef ERROR_STACK_H +#define ERROR_STACK_H + +#include "utility.h" +#include "utility_io.h" +#include <string> + + +namespace KDL { + +/* + * \todo + * IOTrace-routines store in static memory, should be in thread-local memory. + * pushes a description of the current routine on the IO-stack trace + */ +void IOTrace(const std::string& description); + +//! pops a description of the IO-stack +void IOTracePop(); + + +//! outputs the IO-stack to a stream to provide a better errormessage. +void IOTraceOutput(std::ostream& os); + +//! outputs one element of the IO-stack to the buffer (maximally size chars) +//! returns empty string if no elements on the stack. +void IOTracePopStr(char* buffer,int size); + + +} + +#endif + diff --git a/intern/itasc/kdl/utilities/kdl-config.h b/intern/itasc/kdl/utilities/kdl-config.h new file mode 100644 index 00000000000..4d2df2df6c5 --- /dev/null +++ b/intern/itasc/kdl/utilities/kdl-config.h @@ -0,0 +1,33 @@ +/* Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> */ + +/* Version: 1.0 */ +/* Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> */ +/* Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> */ +/* URL: http://www.orocos.org/kdl */ + +/* This library is free software; you can redistribute it and/or */ +/* modify it under the terms of the GNU Lesser General Public */ +/* License as published by the Free Software Foundation; either */ +/* version 2.1 of the License, or (at your option) any later version. */ + +/* This library is distributed in the hope that it will be useful, */ +/* but WITHOUT ANY WARRANTY; without even the implied warranty of */ +/* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU */ +/* Lesser General Public License for more details. */ + +/* You should have received a copy of the GNU Lesser General Public */ +/* License along with this library; if not, write to the Free Software */ +/* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ + + +/* Methods are inlined */ +#define KDL_INLINE 1 + +/* Column width that is used form printing frames */ +#define KDL_FRAME_WIDTH 12 + +/* Indices are checked when accessing members of the objects */ +#define KDL_INDEX_CHECK 1 + +/* use KDL implementation for == operator */ +#define KDL_USE_EQUAL 1 diff --git a/intern/itasc/kdl/utilities/rall1d.h b/intern/itasc/kdl/utilities/rall1d.h new file mode 100644 index 00000000000..617683ffce6 --- /dev/null +++ b/intern/itasc/kdl/utilities/rall1d.h @@ -0,0 +1,478 @@ + +/***************************************************************************** + * \file + * class for automatic differentiation on scalar values and 1st + * derivatives . + * + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par Note + * VC6++ contains a bug, concerning the use of inlined friend functions + * in combination with namespaces. So, try to avoid inlined friend + * functions ! + * + * \par History + * - $log$ + * + * \par Release + * $Id: rall1d.h 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + ****************************************************************************/ + +#ifndef Rall1D_H +#define Rall1D_H +#include <assert.h> +#include "utility.h" + +namespace KDL { +/** + * Rall1d contains a value, and its gradient, and defines an algebraic structure on this pair. + * This template class has 3 template parameters : + * - T contains the type of the value. + * - V contains the type of the gradient (can be a vector-like type). + * - S defines a scalar type that can operate on Rall1d. This is the type that + * is used to give back values of Norm() etc. + * + * S is usefull when you recurse a Rall1d object into itself to create a 2nd, 3th, 4th,.. + * derivatives. (e.g. Rall1d< Rall1d<double>, Rall1d<double>, double> ). + * + * S is always passed by value. + * + * \par Class Type + * Concrete implementation + */ +template <typename T,typename V=T,typename S=T> +class Rall1d + { + public: + typedef T valuetype; + typedef V gradienttype; + typedef S scalartype; + public : + T t; //!< value + V grad; //!< gradient + public : + INLINE Rall1d() {} + + T value() const { + return t; + } + V deriv() const { + return grad; + } + + explicit INLINE Rall1d(typename TI<T>::Arg c) + {t=T(c);SetToZero(grad);} + + INLINE Rall1d(typename TI<T>::Arg tn, typename TI<V>::Arg afg):t(tn),grad(afg) {} + + INLINE Rall1d(const Rall1d<T,V,S>& r):t(r.t),grad(r.grad) {} + //if one defines this constructor, it's better optimized then the + //automatically generated one ( this one set's up a loop to copy + // word by word. + + INLINE T& Value() { + return t; + } + + INLINE V& Gradient() { + return grad; + } + + INLINE static Rall1d<T,V,S> Zero() { + Rall1d<T,V,S> tmp; + SetToZero(tmp); + return tmp; + } + INLINE static Rall1d<T,V,S> Identity() { + Rall1d<T,V,S> tmp; + SetToIdentity(tmp); + return tmp; + } + + INLINE Rall1d<T,V,S>& operator =(S c) + {t=c;SetToZero(grad);return *this;} + + INLINE Rall1d<T,V,S>& operator =(const Rall1d<T,V,S>& r) + {t=r.t;grad=r.grad;return *this;} + + INLINE Rall1d<T,V,S>& operator /=(const Rall1d<T,V,S>& rhs) + { + grad = LinComb(rhs.t,grad,-t,rhs.grad) / (rhs.t*rhs.t); + t /= rhs.t; + return *this; + } + + INLINE Rall1d<T,V,S>& operator *=(const Rall1d<T,V,S>& rhs) + { + LinCombR(rhs.t,grad,t,rhs.grad,grad); + t *= rhs.t; + return *this; + } + + INLINE Rall1d<T,V,S>& operator +=(const Rall1d<T,V,S>& rhs) + { + grad +=rhs.grad; + t +=rhs.t; + return *this; + } + + INLINE Rall1d<T,V,S>& operator -=(const Rall1d<T,V,S>& rhs) + { + grad -= rhs.grad; + t -= rhs.t; + return *this; + } + + INLINE Rall1d<T,V,S>& operator /=(S rhs) + { + grad /= rhs; + t /= rhs; + return *this; + } + + INLINE Rall1d<T,V,S>& operator *=(S rhs) + { + grad *= rhs; + t *= rhs; + return *this; + } + + INLINE Rall1d<T,V,S>& operator +=(S rhs) + { + t += rhs; + return *this; + } + + INLINE Rall1d<T,V,S>& operator -=(S rhs) + { + t -= rhs; + return *this; + } + + + + // = operators + /* gives warnings on cygwin + + template <class T2,class V2,class S2> + friend INLINE Rall1d<T2,V2,S2> operator /(const Rall1d<T2,V2,S2>& lhs,const Rall1d<T2,V2,S2>& rhs); + + friend INLINE Rall1d<T,V,S> operator *(const Rall1d<T,V,S>& lhs,const Rall1d<T,V,S>& rhs); + friend INLINE Rall1d<T,V,S> operator +(const Rall1d<T,V,S>& lhs,const Rall1d<T,V,S>& rhs); + friend INLINE Rall1d<T,V,S> operator -(const Rall1d<T,V,S>& lhs,const Rall1d<T,V,S>& rhs); + friend INLINE Rall1d<T,V,S> operator -(const Rall1d<T,V,S>& arg); + friend INLINE Rall1d<T,V,S> operator *(S s,const Rall1d<T,V,S>& v); + friend INLINE Rall1d<T,V,S> operator *(const Rall1d<T,V,S>& v,S s); + friend INLINE Rall1d<T,V,S> operator +(S s,const Rall1d<T,V,S>& v); + friend INLINE Rall1d<T,V,S> operator +(const Rall1d<T,V,S>& v,S s); + friend INLINE Rall1d<T,V,S> operator -(S s,const Rall1d<T,V,S>& v); + friend INLINE Rall1d<T,V,S> operator -(const Rall1d<T,V,S>& v,S s); + friend INLINE Rall1d<T,V,S> operator /(S s,const Rall1d<T,V,S>& v); + friend INLINE Rall1d<T,V,S> operator /(const Rall1d<T,V,S>& v,S s); + + // = Mathematical functions that operate on Rall1d objects + friend INLINE Rall1d<T,V,S> exp(const Rall1d<T,V,S>& arg); + friend INLINE Rall1d<T,V,S> log(const Rall1d<T,V,S>& arg); + friend INLINE Rall1d<T,V,S> sin(const Rall1d<T,V,S>& arg); + friend INLINE Rall1d<T,V,S> cos(const Rall1d<T,V,S>& arg); + friend INLINE Rall1d<T,V,S> tan(const Rall1d<T,V,S>& arg); + friend INLINE Rall1d<T,V,S> sinh(const Rall1d<T,V,S>& arg); + friend INLINE Rall1d<T,V,S> cosh(const Rall1d<T,V,S>& arg); + friend INLINE Rall1d<T,V,S> sqr(const Rall1d<T,V,S>& arg); + friend INLINE Rall1d<T,V,S> pow(const Rall1d<T,V,S>& arg,double m) ; + friend INLINE Rall1d<T,V,S> sqrt(const Rall1d<T,V,S>& arg); + friend INLINE Rall1d<T,V,S> atan(const Rall1d<T,V,S>& x); + friend INLINE Rall1d<T,V,S> hypot(const Rall1d<T,V,S>& y,const Rall1d<T,V,S>& x); + friend INLINE Rall1d<T,V,S> asin(const Rall1d<T,V,S>& x); + friend INLINE Rall1d<T,V,S> acos(const Rall1d<T,V,S>& x); + friend INLINE Rall1d<T,V,S> abs(const Rall1d<T,V,S>& x); + friend INLINE S Norm(const Rall1d<T,V,S>& value) ; + friend INLINE Rall1d<T,V,S> tanh(const Rall1d<T,V,S>& arg); + friend INLINE Rall1d<T,V,S> atan2(const Rall1d<T,V,S>& y,const Rall1d<T,V,S>& x); + + // = Utility functions to improve performance + + friend INLINE Rall1d<T,V,S> LinComb(S alfa,const Rall1d<T,V,S>& a, + const T& beta,const Rall1d<T,V,S>& b ); + + friend INLINE void LinCombR(S alfa,const Rall1d<T,V,S>& a, + const T& beta,const Rall1d<T,V,S>& b,Rall1d<T,V,S>& result ); + + // = Setting value of a Rall1d object to 0 or 1 + + friend INLINE void SetToZero(Rall1d<T,V,S>& value); + friend INLINE void SetToOne(Rall1d<T,V,S>& value); + // = Equality in an eps-interval + friend INLINE bool Equal(const Rall1d<T,V,S>& y,const Rall1d<T,V,S>& x,double eps); + */ + }; + + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator /(const Rall1d<T,V,S>& lhs,const Rall1d<T,V,S>& rhs) + { + return Rall1d<T,V,S>(lhs.t/rhs.t,(lhs.grad*rhs.t-lhs.t*rhs.grad)/(rhs.t*rhs.t)); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator *(const Rall1d<T,V,S>& lhs,const Rall1d<T,V,S>& rhs) + { + return Rall1d<T,V,S>(lhs.t*rhs.t,rhs.t*lhs.grad+lhs.t*rhs.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator +(const Rall1d<T,V,S>& lhs,const Rall1d<T,V,S>& rhs) + { + return Rall1d<T,V,S>(lhs.t+rhs.t,lhs.grad+rhs.grad); + } + + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator -(const Rall1d<T,V,S>& lhs,const Rall1d<T,V,S>& rhs) + { + return Rall1d<T,V,S>(lhs.t-rhs.t,lhs.grad-rhs.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator -(const Rall1d<T,V,S>& arg) + { + return Rall1d<T,V,S>(-arg.t,-arg.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator *(S s,const Rall1d<T,V,S>& v) + { + return Rall1d<T,V,S>(s*v.t,s*v.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator *(const Rall1d<T,V,S>& v,S s) + { + return Rall1d<T,V,S>(v.t*s,v.grad*s); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator +(S s,const Rall1d<T,V,S>& v) + { + return Rall1d<T,V,S>(s+v.t,v.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator +(const Rall1d<T,V,S>& v,S s) + { + return Rall1d<T,V,S>(v.t+s,v.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator -(S s,const Rall1d<T,V,S>& v) + { + return Rall1d<T,V,S>(s-v.t,-v.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator -(const Rall1d<T,V,S>& v,S s) + { + return Rall1d<T,V,S>(v.t-s,v.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator /(S s,const Rall1d<T,V,S>& v) + { + return Rall1d<T,V,S>(s/v.t,(-s*v.grad)/(v.t*v.t)); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> operator /(const Rall1d<T,V,S>& v,S s) + { + return Rall1d<T,V,S>(v.t/s,v.grad/s); + } + + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> exp(const Rall1d<T,V,S>& arg) + { + T v; + v= (exp(arg.t)); + return Rall1d<T,V,S>(v,v*arg.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> log(const Rall1d<T,V,S>& arg) + { + T v; + v=(log(arg.t)); + return Rall1d<T,V,S>(v,arg.grad/arg.t); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> sin(const Rall1d<T,V,S>& arg) + { + T v; + v=(sin(arg.t)); + return Rall1d<T,V,S>(v,cos(arg.t)*arg.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> cos(const Rall1d<T,V,S>& arg) + { + T v; + v=(cos(arg.t)); + return Rall1d<T,V,S>(v,-sin(arg.t)*arg.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> tan(const Rall1d<T,V,S>& arg) + { + T v; + v=(tan(arg.t)); + return Rall1d<T,V,S>(v,arg.grad/sqr(cos(arg.t))); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> sinh(const Rall1d<T,V,S>& arg) + { + T v; + v=(sinh(arg.t)); + return Rall1d<T,V,S>(v,cosh(arg.t)*arg.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> cosh(const Rall1d<T,V,S>& arg) + { + T v; + v=(cosh(arg.t)); + return Rall1d<T,V,S>(v,sinh(arg.t)*arg.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> sqr(const Rall1d<T,V,S>& arg) + { + T v; + v=(arg.t*arg.t); + return Rall1d<T,V,S>(v,(2.0*arg.t)*arg.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> pow(const Rall1d<T,V,S>& arg,double m) + { + T v; + v=(pow(arg.t,m)); + return Rall1d<T,V,S>(v,(m*v/arg.t)*arg.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> sqrt(const Rall1d<T,V,S>& arg) + { + T v; + v=sqrt(arg.t); + return Rall1d<T,V,S>(v, (0.5/v)*arg.grad); + } + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> atan(const Rall1d<T,V,S>& x) +{ + T v; + v=(atan(x.t)); + return Rall1d<T,V,S>(v,x.grad/(1.0+sqr(x.t))); +} + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> hypot(const Rall1d<T,V,S>& y,const Rall1d<T,V,S>& x) +{ + T v; + v=(hypot(y.t,x.t)); + return Rall1d<T,V,S>(v,(x.t/v)*x.grad+(y.t/v)*y.grad); +} + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> asin(const Rall1d<T,V,S>& x) +{ + T v; + v=(asin(x.t)); + return Rall1d<T,V,S>(v,x.grad/sqrt(1.0-sqr(x.t))); +} + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> acos(const Rall1d<T,V,S>& x) +{ + T v; + v=(acos(x.t)); + return Rall1d<T,V,S>(v,-x.grad/sqrt(1.0-sqr(x.t))); +} + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> abs(const Rall1d<T,V,S>& x) +{ + T v; + v=(Sign(x)); + return Rall1d<T,V,S>(v*x,v*x.grad); +} + + +template <class T,class V,class S> +INLINE S Norm(const Rall1d<T,V,S>& value) +{ + return Norm(value.t); +} + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> tanh(const Rall1d<T,V,S>& arg) +{ + T v(tanh(arg.t)); + return Rall1d<T,V,S>(v,arg.grad/sqr(cosh(arg.t))); +} + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> atan2(const Rall1d<T,V,S>& y,const Rall1d<T,V,S>& x) +{ + T v(x.t*x.t+y.t*y.t); + return Rall1d<T,V,S>(atan2(y.t,x.t),(x.t*y.grad-y.t*x.grad)/v); +} + + +template <class T,class V,class S> +INLINE Rall1d<T,V,S> LinComb(S alfa,const Rall1d<T,V,S>& a, + const T& beta,const Rall1d<T,V,S>& b ) { + return Rall1d<T,V,S>( + LinComb(alfa,a.t,beta,b.t), + LinComb(alfa,a.grad,beta,b.grad) + ); +} + +template <class T,class V,class S> +INLINE void LinCombR(S alfa,const Rall1d<T,V,S>& a, + const T& beta,const Rall1d<T,V,S>& b,Rall1d<T,V,S>& result ) { + LinCombR(alfa, a.t, beta, b.t, result.t); + LinCombR(alfa, a.grad, beta, b.grad, result.grad); +} + + +template <class T,class V,class S> +INLINE void SetToZero(Rall1d<T,V,S>& value) + { + SetToZero(value.grad); + SetToZero(value.t); + } +template <class T,class V,class S> +INLINE void SetToIdentity(Rall1d<T,V,S>& value) + { + SetToIdentity(value.t); + SetToZero(value.grad); + } + +template <class T,class V,class S> +INLINE bool Equal(const Rall1d<T,V,S>& y,const Rall1d<T,V,S>& x,double eps=epsilon) +{ + return (Equal(x.t,y.t,eps)&&Equal(x.grad,y.grad,eps)); +} + +} + + + +#endif diff --git a/intern/itasc/kdl/utilities/rall2d.h b/intern/itasc/kdl/utilities/rall2d.h new file mode 100644 index 00000000000..ca4c67319f5 --- /dev/null +++ b/intern/itasc/kdl/utilities/rall2d.h @@ -0,0 +1,538 @@ + +/***************************************************************************** + * \file + * class for automatic differentiation on scalar values and 1st + * derivatives and 2nd derivative. + * + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par Note + * VC6++ contains a bug, concerning the use of inlined friend functions + * in combination with namespaces. So, try to avoid inlined friend + * functions ! + * + * \par History + * - $log$ + * + * \par Release + * $Id: rall2d.h 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + ****************************************************************************/ + +#ifndef Rall2D_H +#define Rall2D_H + +#include <math.h> +#include <assert.h> +#include "utility.h" + + +namespace KDL { + +/** + * Rall2d contains a value, and its gradient and its 2nd derivative, and defines an algebraic + * structure on this pair. + * This template class has 3 template parameters : + * - T contains the type of the value. + * - V contains the type of the gradient (can be a vector-like type). + * - S defines a scalar type that can operate on Rall1d. This is the type that + * is used to give back values of Norm() etc. + * + * S is usefull when you recurse a Rall1d object into itself to create a 2nd, 3th, 4th,.. + * derivatives. (e.g. Rall1d< Rall1d<double>, Rall1d<double>, double> ). + * + * S is always passed by value. + * + * \par Class Type + * Concrete implementation + */ +template <class T,class V=T,class S=T> +class Rall2d + { + public : + T t; //!< value + V d; //!< 1st derivative + V dd; //!< 2nd derivative + public : + // = Constructors + INLINE Rall2d() {} + + explicit INLINE Rall2d(typename TI<T>::Arg c) + {t=c;SetToZero(d);SetToZero(dd);} + + INLINE Rall2d(typename TI<T>::Arg tn,const V& afg):t(tn),d(afg) {SetToZero(dd);} + + INLINE Rall2d(typename TI<T>::Arg tn,const V& afg,const V& afg2):t(tn),d(afg),dd(afg2) {} + + // = Copy Constructor + INLINE Rall2d(const Rall2d<T,V,S>& r):t(r.t),d(r.d),dd(r.dd) {} + //if one defines this constructor, it's better optimized then the + //automatically generated one ( that one set's up a loop to copy + // word by word. + + // = Member functions to access internal structures : + INLINE T& Value() { + return t; + } + + INLINE V& D() { + return d; + } + + INLINE V& DD() { + return dd; + } + INLINE static Rall2d<T,V,S> Zero() { + Rall2d<T,V,S> tmp; + SetToZero(tmp); + return tmp; + } + INLINE static Rall2d<T,V,S> Identity() { + Rall2d<T,V,S> tmp; + SetToIdentity(tmp); + return tmp; + } + + // = assignment operators + INLINE Rall2d<T,V,S>& operator =(S c) + {t=c;SetToZero(d);SetToZero(dd);return *this;} + + INLINE Rall2d<T,V,S>& operator =(const Rall2d<T,V,S>& r) + {t=r.t;d=r.d;dd=r.dd;return *this;} + + INLINE Rall2d<T,V,S>& operator /=(const Rall2d<T,V,S>& rhs) + { + t /= rhs.t; + d = (d-t*rhs.d)/rhs.t; + dd= (dd - S(2)*d*rhs.d-t*rhs.dd)/rhs.t; + return *this; + } + + INLINE Rall2d<T,V,S>& operator *=(const Rall2d<T,V,S>& rhs) + { + t *= rhs.t; + d = (d*rhs.t+t*rhs.d); + dd = (dd*rhs.t+S(2)*d*rhs.d+t*rhs.dd); + return *this; + } + + INLINE Rall2d<T,V,S>& operator +=(const Rall2d<T,V,S>& rhs) + { + t +=rhs.t; + d +=rhs.d; + dd+=rhs.dd; + return *this; + } + + INLINE Rall2d<T,V,S>& operator -=(const Rall2d<T,V,S>& rhs) + { + t -= rhs.t; + d -= rhs.d; + dd -= rhs.dd; + return *this; + } + + INLINE Rall2d<T,V,S>& operator /=(S rhs) + { + t /= rhs; + d /= rhs; + dd /= rhs; + return *this; + } + + INLINE Rall2d<T,V,S>& operator *=(S rhs) + { + t *= rhs; + d *= rhs; + dd *= rhs; + return *this; + } + + INLINE Rall2d<T,V,S>& operator -=(S rhs) + { + t -= rhs; + return *this; + } + + INLINE Rall2d<T,V,S>& operator +=(S rhs) + { + t += rhs; + return *this; + } + + // = Operators between Rall2d objects +/* + friend INLINE Rall2d<T,V,S> operator /(const Rall2d<T,V,S>& lhs,const Rall2d<T,V,S>& rhs); + friend INLINE Rall2d<T,V,S> operator *(const Rall2d<T,V,S>& lhs,const Rall2d<T,V,S>& rhs); + friend INLINE Rall2d<T,V,S> operator +(const Rall2d<T,V,S>& lhs,const Rall2d<T,V,S>& rhs); + friend INLINE Rall2d<T,V,S> operator -(const Rall2d<T,V,S>& lhs,const Rall2d<T,V,S>& rhs); + friend INLINE Rall2d<T,V,S> operator -(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> operator *(S s,const Rall2d<T,V,S>& v); + friend INLINE Rall2d<T,V,S> operator *(const Rall2d<T,V,S>& v,S s); + friend INLINE Rall2d<T,V,S> operator +(S s,const Rall2d<T,V,S>& v); + friend INLINE Rall2d<T,V,S> operator +(const Rall2d<T,V,S>& v,S s); + friend INLINE Rall2d<T,V,S> operator -(S s,const Rall2d<T,V,S>& v); + friend INLINE INLINE Rall2d<T,V,S> operator -(const Rall2d<T,V,S>& v,S s); + friend INLINE Rall2d<T,V,S> operator /(S s,const Rall2d<T,V,S>& v); + friend INLINE Rall2d<T,V,S> operator /(const Rall2d<T,V,S>& v,S s); + + // = Mathematical functions that operate on Rall2d objects + + friend INLINE Rall2d<T,V,S> exp(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> log(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> sin(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> cos(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> tan(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> sinh(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> cosh(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> tanh(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> sqr(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> pow(const Rall2d<T,V,S>& arg,double m) ; + friend INLINE Rall2d<T,V,S> sqrt(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> asin(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> acos(const Rall2d<T,V,S>& arg); + friend INLINE Rall2d<T,V,S> atan(const Rall2d<T,V,S>& x); + friend INLINE Rall2d<T,V,S> atan2(const Rall2d<T,V,S>& y,const Rall2d<T,V,S>& x); + friend INLINE Rall2d<T,V,S> abs(const Rall2d<T,V,S>& x); + friend INLINE Rall2d<T,V,S> hypot(const Rall2d<T,V,S>& y,const Rall2d<T,V,S>& x); + // returns sqrt(y*y+x*x), but is optimized for accuracy and speed. + friend INLINE S Norm(const Rall2d<T,V,S>& value) ; + // returns Norm( value.Value() ). + + // = Some utility functions to improve performance + // (should also be declared on primitive types to improve uniformity + friend INLINE Rall2d<T,V,S> LinComb(S alfa,const Rall2d<T,V,S>& a, + TI<T>::Arg beta,const Rall2d<T,V,S>& b ); + friend INLINE void LinCombR(S alfa,const Rall2d<T,V,S>& a, + TI<T>::Arg beta,const Rall2d<T,V,S>& b,Rall2d<T,V,S>& result ); + // = Setting value of a Rall2d object to 0 or 1 + friend INLINE void SetToZero(Rall2d<T,V,S>& value); + friend INLINE void SetToOne(Rall2d<T,V,S>& value); + // = Equality in an eps-interval + friend INLINE bool Equal(const Rall2d<T,V,S>& y,const Rall2d<T,V,S>& x,double eps); + */ + }; + + + + + +// = Operators between Rall2d objects +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator /(const Rall2d<T,V,S>& lhs,const Rall2d<T,V,S>& rhs) + { + Rall2d<T,V,S> tmp; + tmp.t = lhs.t/rhs.t; + tmp.d = (lhs.d-tmp.t*rhs.d)/rhs.t; + tmp.dd= (lhs.dd-S(2)*tmp.d*rhs.d-tmp.t*rhs.dd)/rhs.t; + return tmp; + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator *(const Rall2d<T,V,S>& lhs,const Rall2d<T,V,S>& rhs) + { + Rall2d<T,V,S> tmp; + tmp.t = lhs.t*rhs.t; + tmp.d = (lhs.d*rhs.t+lhs.t*rhs.d); + tmp.dd = (lhs.dd*rhs.t+S(2)*lhs.d*rhs.d+lhs.t*rhs.dd); + return tmp; + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator +(const Rall2d<T,V,S>& lhs,const Rall2d<T,V,S>& rhs) + { + return Rall2d<T,V,S>(lhs.t+rhs.t,lhs.d+rhs.d,lhs.dd+rhs.dd); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator -(const Rall2d<T,V,S>& lhs,const Rall2d<T,V,S>& rhs) + { + return Rall2d<T,V,S>(lhs.t-rhs.t,lhs.d-rhs.d,lhs.dd-rhs.dd); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator -(const Rall2d<T,V,S>& arg) + { + return Rall2d<T,V,S>(-arg.t,-arg.d,-arg.dd); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator *(S s,const Rall2d<T,V,S>& v) + { + return Rall2d<T,V,S>(s*v.t,s*v.d,s*v.dd); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator *(const Rall2d<T,V,S>& v,S s) + { + return Rall2d<T,V,S>(v.t*s,v.d*s,v.dd*s); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator +(S s,const Rall2d<T,V,S>& v) + { + return Rall2d<T,V,S>(s+v.t,v.d,v.dd); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator +(const Rall2d<T,V,S>& v,S s) + { + return Rall2d<T,V,S>(v.t+s,v.d,v.dd); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator -(S s,const Rall2d<T,V,S>& v) + { + return Rall2d<T,V,S>(s-v.t,-v.d,-v.dd); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator -(const Rall2d<T,V,S>& v,S s) + { + return Rall2d<T,V,S>(v.t-s,v.d,v.dd); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator /(S s,const Rall2d<T,V,S>& rhs) + { + Rall2d<T,V,S> tmp; + tmp.t = s/rhs.t; + tmp.d = (-tmp.t*rhs.d)/rhs.t; + tmp.dd= (-S(2)*tmp.d*rhs.d-tmp.t*rhs.dd)/rhs.t; + return tmp; +} + + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> operator /(const Rall2d<T,V,S>& v,S s) + { + return Rall2d<T,V,S>(v.t/s,v.d/s,v.dd/s); + } + + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> exp(const Rall2d<T,V,S>& arg) + { + Rall2d<T,V,S> tmp; + tmp.t = exp(arg.t); + tmp.d = tmp.t*arg.d; + tmp.dd = tmp.d*arg.d+tmp.t*arg.dd; + return tmp; + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> log(const Rall2d<T,V,S>& arg) + { + Rall2d<T,V,S> tmp; + tmp.t = log(arg.t); + tmp.d = arg.d/arg.t; + tmp.dd = (arg.dd-tmp.d*arg.d)/arg.t; + return tmp; + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> sin(const Rall2d<T,V,S>& arg) + { + T v1 = sin(arg.t); + T v2 = cos(arg.t); + return Rall2d<T,V,S>(v1,v2*arg.d,v2*arg.dd - (v1*arg.d)*arg.d ); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> cos(const Rall2d<T,V,S>& arg) + { + T v1 = cos(arg.t); + T v2 = -sin(arg.t); + return Rall2d<T,V,S>(v1,v2*arg.d, v2*arg.dd - (v1*arg.d)*arg.d); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> tan(const Rall2d<T,V,S>& arg) + { + T v1 = tan(arg.t); + T v2 = S(1)+sqr(v1); + return Rall2d<T,V,S>(v1,v2*arg.d, v2*(arg.dd+(S(2)*v1*sqr(arg.d)))); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> sinh(const Rall2d<T,V,S>& arg) + { + T v1 = sinh(arg.t); + T v2 = cosh(arg.t); + return Rall2d<T,V,S>(v1,v2*arg.d,v2*arg.dd + (v1*arg.d)*arg.d ); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> cosh(const Rall2d<T,V,S>& arg) + { + T v1 = cosh(arg.t); + T v2 = sinh(arg.t); + return Rall2d<T,V,S>(v1,v2*arg.d,v2*arg.dd + (v1*arg.d)*arg.d ); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> tanh(const Rall2d<T,V,S>& arg) + { + T v1 = tanh(arg.t); + T v2 = S(1)-sqr(v1); + return Rall2d<T,V,S>(v1,v2*arg.d, v2*(arg.dd-(S(2)*v1*sqr(arg.d)))); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> sqr(const Rall2d<T,V,S>& arg) + { + return Rall2d<T,V,S>(arg.t*arg.t, + (S(2)*arg.t)*arg.d, + S(2)*(sqr(arg.d)+arg.t*arg.dd) + ); + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> pow(const Rall2d<T,V,S>& arg,double m) + { + Rall2d<T,V,S> tmp; + tmp.t = pow(arg.t,m); + T v2 = (m/arg.t)*tmp.t; + tmp.d = v2*arg.d; + tmp.dd = (S((m-1))/arg.t)*tmp.d*arg.d + v2*arg.dd; + return tmp; + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> sqrt(const Rall2d<T,V,S>& arg) + { + /* By inversion of sqr(x) :*/ + Rall2d<T,V,S> tmp; + tmp.t = sqrt(arg.t); + tmp.d = (S(0.5)/tmp.t)*arg.d; + tmp.dd = (S(0.5)*arg.dd-sqr(tmp.d))/tmp.t; + return tmp; + } + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> asin(const Rall2d<T,V,S>& arg) +{ + /* By inversion of sin(x) */ + Rall2d<T,V,S> tmp; + tmp.t = asin(arg.t); + T v = cos(tmp.t); + tmp.d = arg.d/v; + tmp.dd = (arg.dd+arg.t*sqr(tmp.d))/v; + return tmp; +} + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> acos(const Rall2d<T,V,S>& arg) +{ + /* By inversion of cos(x) */ + Rall2d<T,V,S> tmp; + tmp.t = acos(arg.t); + T v = -sin(tmp.t); + tmp.d = arg.d/v; + tmp.dd = (arg.dd+arg.t*sqr(tmp.d))/v; + return tmp; + +} + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> atan(const Rall2d<T,V,S>& x) +{ + /* By inversion of tan(x) */ + Rall2d<T,V,S> tmp; + tmp.t = atan(x.t); + T v = S(1)+sqr(x.t); + tmp.d = x.d/v; + tmp.dd = x.dd/v-(S(2)*x.t)*sqr(tmp.d); + return tmp; +} + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> atan2(const Rall2d<T,V,S>& y,const Rall2d<T,V,S>& x) +{ + Rall2d<T,V,S> tmp; + tmp.t = atan2(y.t,x.t); + T v = sqr(y.t)+sqr(x.t); + tmp.d = (x.t*y.d-x.d*y.t)/v; + tmp.dd = ( x.t*y.dd-x.dd*y.t-S(2)*(x.t*x.d+y.t*y.d)*tmp.d ) / v; + return tmp; +} + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> abs(const Rall2d<T,V,S>& x) +{ + T v(Sign(x)); + return Rall2d<T,V,S>(v*x,v*x.d,v*x.dd); +} + +template <class T,class V,class S> +INLINE Rall2d<T,V,S> hypot(const Rall2d<T,V,S>& y,const Rall2d<T,V,S>& x) +{ + Rall2d<T,V,S> tmp; + tmp.t = hypot(y.t,x.t); + tmp.d = (x.t*x.d+y.t*y.d)/tmp.t; + tmp.dd = (sqr(x.d)+x.t*x.dd+sqr(y.d)+y.t*y.dd-sqr(tmp.d))/tmp.t; + return tmp; +} +// returns sqrt(y*y+x*x), but is optimized for accuracy and speed. + +template <class T,class V,class S> +INLINE S Norm(const Rall2d<T,V,S>& value) +{ + return Norm(value.t); +} +// returns Norm( value.Value() ). + + +// (should also be declared on primitive types to improve uniformity +template <class T,class V,class S> +INLINE Rall2d<T,V,S> LinComb(S alfa,const Rall2d<T,V,S>& a, + const T& beta,const Rall2d<T,V,S>& b ) { + return Rall2d<T,V,S>( + LinComb(alfa,a.t,beta,b.t), + LinComb(alfa,a.d,beta,b.d), + LinComb(alfa,a.dd,beta,b.dd) + ); +} + +template <class T,class V,class S> +INLINE void LinCombR(S alfa,const Rall2d<T,V,S>& a, + const T& beta,const Rall2d<T,V,S>& b,Rall2d<T,V,S>& result ) { + LinCombR(alfa, a.t, beta, b.t, result.t); + LinCombR(alfa, a.d, beta, b.d, result.d); + LinCombR(alfa, a.dd, beta, b.dd, result.dd); +} + +template <class T,class V,class S> +INLINE void SetToZero(Rall2d<T,V,S>& value) + { + SetToZero(value.t); + SetToZero(value.d); + SetToZero(value.dd); + } + +template <class T,class V,class S> +INLINE void SetToIdentity(Rall2d<T,V,S>& value) + { + SetToZero(value.d); + SetToIdentity(value.t); + SetToZero(value.dd); + } + +template <class T,class V,class S> +INLINE bool Equal(const Rall2d<T,V,S>& y,const Rall2d<T,V,S>& x,double eps=epsilon) +{ + return (Equal(x.t,y.t,eps)&& + Equal(x.d,y.d,eps)&& + Equal(x.dd,y.dd,eps) + ); +} + + +} + + +#endif diff --git a/intern/itasc/kdl/utilities/svd_eigen_HH.hpp b/intern/itasc/kdl/utilities/svd_eigen_HH.hpp new file mode 100644 index 00000000000..2bbb8df521f --- /dev/null +++ b/intern/itasc/kdl/utilities/svd_eigen_HH.hpp @@ -0,0 +1,309 @@ +// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> + +// Version: 1.0 +// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> +// URL: http://www.orocos.org/kdl + +// This library is free software; you can redistribute it and/or +// modify it under the terms of the GNU Lesser General Public +// License as published by the Free Software Foundation; either +// version 2.1 of the License, or (at your option) any later version. + +// This library is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +// Lesser General Public License for more details. + +// You should have received a copy of the GNU Lesser General Public +// License along with this library; if not, write to the Free Software +// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + + +//Based on the svd of the KDL-0.2 library by Erwin Aertbelien +#ifndef SVD_EIGEN_HH_HPP +#define SVD_EIGEN_HH_HPP + + +#include <Eigen/Array> +#include <algorithm> + +namespace KDL +{ + template<typename Scalar> inline Scalar PYTHAG(Scalar a,Scalar b) { + double at,bt,ct; + at = fabs(a); + bt = fabs(b); + if (at > bt ) { + ct=bt/at; + return Scalar(at*sqrt(1.0+ct*ct)); + } else { + if (bt==0) + return Scalar(0.0); + else { + ct=at/bt; + return Scalar(bt*sqrt(1.0+ct*ct)); + } + } + } + + + template<typename Scalar> inline Scalar SIGN(Scalar a,Scalar b) { + return ((b) >= Scalar(0.0) ? fabs(a) : -fabs(a)); + } + + /** + * svd calculation of boost ublas matrices + * + * @param A matrix<double>(mxn) + * @param U matrix<double>(mxn) + * @param S vector<double> n + * @param V matrix<double>(nxn) + * @param tmp vector<double> n + * @param maxiter defaults to 150 + * + * @return -2 if maxiter exceeded, 0 otherwise + */ + template<typename MatrixA, typename MatrixUV, typename VectorS> + int svd_eigen_HH( + const Eigen::MatrixBase<MatrixA>& A, + Eigen::MatrixBase<MatrixUV>& U, + Eigen::MatrixBase<VectorS>& S, + Eigen::MatrixBase<MatrixUV>& V, + Eigen::MatrixBase<VectorS>& tmp, + int maxiter=150) + { + //get the rows/columns of the matrix + const int rows = A.rows(); + const int cols = A.cols(); + + U = A; + + int i(-1),its(-1),j(-1),jj(-1),k(-1),nm=0; + int ppi(0); + bool flag; + e_scalar maxarg1,maxarg2,anorm(0),c(0),f(0),h(0),s(0),scale(0),x(0),y(0),z(0),g(0); + + g=scale=anorm=e_scalar(0.0); + + /* Householder reduction to bidiagonal form. */ + for (i=0;i<cols;i++) { + ppi=i+1; + tmp(i)=scale*g; + g=s=scale=e_scalar(0.0); + if (i<rows) { + // compute the sum of the i-th column, starting from the i-th row + for (k=i;k<rows;k++) scale += fabs(U(k,i)); + if (scale!=0) { + // multiply the i-th column by 1.0/scale, start from the i-th element + // sum of squares of column i, start from the i-th element + for (k=i;k<rows;k++) { + U(k,i) /= scale; + s += U(k,i)*U(k,i); + } + f=U(i,i); // f is the diag elem + g = -SIGN(e_scalar(sqrt(s)),f); + h=f*g-s; + U(i,i)=f-g; + for (j=ppi;j<cols;j++) { + // dot product of columns i and j, starting from the i-th row + for (s=0.0,k=i;k<rows;k++) s += U(k,i)*U(k,j); + f=s/h; + // copy the scaled i-th column into the j-th column + for (k=i;k<rows;k++) U(k,j) += f*U(k,i); + } + for (k=i;k<rows;k++) U(k,i) *= scale; + } + } + // save singular value + S(i)=scale*g; + g=s=scale=e_scalar(0.0); + if ((i <rows) && (i+1 != cols)) { + // sum of row i, start from columns i+1 + for (k=ppi;k<cols;k++) scale += fabs(U(i,k)); + if (scale!=0) { + for (k=ppi;k<cols;k++) { + U(i,k) /= scale; + s += U(i,k)*U(i,k); + } + f=U(i,ppi); + g = -SIGN(e_scalar(sqrt(s)),f); + h=f*g-s; + U(i,ppi)=f-g; + for (k=ppi;k<cols;k++) tmp(k)=U(i,k)/h; + for (j=ppi;j<rows;j++) { + for (s=0.0,k=ppi;k<cols;k++) s += U(j,k)*U(i,k); + for (k=ppi;k<cols;k++) U(j,k) += s*tmp(k); + } + for (k=ppi;k<cols;k++) U(i,k) *= scale; + } + } + maxarg1=anorm; + maxarg2=(fabs(S(i))+fabs(tmp(i))); + anorm = maxarg1 > maxarg2 ? maxarg1 : maxarg2; + } + /* Accumulation of right-hand transformations. */ + for (i=cols-1;i>=0;i--) { + if (i<cols-1) { + if (g) { + for (j=ppi;j<cols;j++) V(j,i)=(U(i,j)/U(i,ppi))/g; + for (j=ppi;j<cols;j++) { + for (s=0.0,k=ppi;k<cols;k++) s += U(i,k)*V(k,j); + for (k=ppi;k<cols;k++) V(k,j) += s*V(k,i); + } + } + for (j=ppi;j<cols;j++) V(i,j)=V(j,i)=0.0; + } + V(i,i)=1.0; + g=tmp(i); + ppi=i; + } + /* Accumulation of left-hand transformations. */ + for (i=cols-1<rows-1 ? cols-1:rows-1;i>=0;i--) { + ppi=i+1; + g=S(i); + for (j=ppi;j<cols;j++) U(i,j)=0.0; + if (g) { + g=e_scalar(1.0)/g; + for (j=ppi;j<cols;j++) { + for (s=0.0,k=ppi;k<rows;k++) s += U(k,i)*U(k,j); + f=(s/U(i,i))*g; + for (k=i;k<rows;k++) U(k,j) += f*U(k,i); + } + for (j=i;j<rows;j++) U(j,i) *= g; + } else { + for (j=i;j<rows;j++) U(j,i)=0.0; + } + ++U(i,i); + } + + /* Diagonalization of the bidiagonal form. */ + for (k=cols-1;k>=0;k--) { /* Loop over singular values. */ + for (its=1;its<=maxiter;its++) { /* Loop over allowed iterations. */ + flag=true; + for (ppi=k;ppi>=0;ppi--) { /* Test for splitting. */ + nm=ppi-1; /* Note that tmp(1) is always zero. */ + if ((fabs(tmp(ppi))+anorm) == anorm) { + flag=false; + break; + } + if ((fabs(S(nm)+anorm) == anorm)) break; + } + if (flag) { + c=e_scalar(0.0); /* Cancellation of tmp(l), if l>1: */ + s=e_scalar(1.); + for (i=ppi;i<=k;i++) { + f=s*tmp(i); + tmp(i)=c*tmp(i); + if ((fabs(f)+anorm) == anorm) break; + g=S(i); + h=PYTHAG(f,g); + S(i)=h; + h=e_scalar(1.0)/h; + c=g*h; + s=(-f*h); + for (j=0;j<rows;j++) { + y=U(j,nm); + z=U(j,i); + U(j,nm)=y*c+z*s; + U(j,i)=z*c-y*s; + } + } + } + z=S(k); + + if (ppi == k) { /* Convergence. */ + if (z < e_scalar(0.0)) { /* Singular value is made nonnegative. */ + S(k) = -z; + for (j=0;j<cols;j++) V(j,k)=-V(j,k); + } + break; + } + + x=S(ppi); /* Shift from bottom 2-by-2 minor: */ + nm=k-1; + y=S(nm); + g=tmp(nm); + h=tmp(k); + f=((y-z)*(y+z)+(g-h)*(g+h))/(e_scalar(2.0)*h*y); + + g=PYTHAG(f,e_scalar(1.0)); + f=((x-z)*(x+z)+h*((y/(f+SIGN(g,f)))-h))/x; + + /* Next QR transformation: */ + c=s=1.0; + for (j=ppi;j<=nm;j++) { + i=j+1; + g=tmp(i); + y=S(i); + h=s*g; + g=c*g; + z=PYTHAG(f,h); + tmp(j)=z; + c=f/z; + s=h/z; + f=x*c+g*s; + g=g*c-x*s; + h=y*s; + y=y*c; + for (jj=0;jj<cols;jj++) { + x=V(jj,j); + z=V(jj,i); + V(jj,j)=x*c+z*s; + V(jj,i)=z*c-x*s; + } + z=PYTHAG(f,h); + S(j)=z; + if (z) { + z=e_scalar(1.0)/z; + c=f*z; + s=h*z; + } + f=(c*g)+(s*y); + x=(c*y)-(s*g); + for (jj=0;jj<rows;jj++) { + y=U(jj,j); + z=U(jj,i); + U(jj,j)=y*c+z*s; + U(jj,i)=z*c-y*s; + } + } + tmp(ppi)=0.0; + tmp(k)=f; + S(k)=x; + } + } + + //Sort eigen values: + for (i=0; i<cols; i++){ + + double S_max = S(i); + int i_max = i; + for (j=i+1; j<cols; j++){ + double Sj = S(j); + if (Sj > S_max){ + S_max = Sj; + i_max = j; + } + } + if (i_max != i){ + /* swap eigenvalues */ + e_scalar tmp = S(i); + S(i)=S(i_max); + S(i_max)=tmp; + + /* swap eigenvectors */ + U.col(i).swap(U.col(i_max)); + V.col(i).swap(V.col(i_max)); + } + } + + + if (its == maxiter) + return (-2); + else + return (0); + } + +} +#endif diff --git a/intern/itasc/kdl/utilities/traits.h b/intern/itasc/kdl/utilities/traits.h new file mode 100644 index 00000000000..2656d633653 --- /dev/null +++ b/intern/itasc/kdl/utilities/traits.h @@ -0,0 +1,111 @@ +#ifndef KDLPV_TRAITS_H +#define KDLPV_TRAITS_H + +#include "utility.h" + + +// forwards declarations : +namespace KDL { + class Frame; + class Rotation; + class Vector; + class Twist; + class Wrench; + class FrameVel; + class RotationVel; + class VectorVel; + class TwistVel; +} + + +/** + * @brief Traits are traits classes to determine the type of a derivative of another type. + * + * For geometric objects the "geometric" derivative is chosen. For example the derivative of a Rotation + * matrix is NOT a 3x3 matrix containing the derivative of the elements of a rotation matrix. The derivative + * of the rotation matrix is a Vector corresponding the rotational velocity. Mostly used in template classes + * and routines to derive a correct type when needed. + * + * You can see this as a compile-time lookuptable to find the type of the derivative. + * + * Example + * \verbatim + Rotation R; + Traits<Rotation> dR; + \endverbatim + */ +template <typename T> +struct Traits { + typedef T valueType; + typedef T derivType; +}; + +template <> +struct Traits<KDL::Frame> { + typedef KDL::Frame valueType; + typedef KDL::Twist derivType; +}; +template <> +struct Traits<KDL::Twist> { + typedef KDL::Twist valueType; + typedef KDL::Twist derivType; +}; +template <> +struct Traits<KDL::Wrench> { + typedef KDL::Wrench valueType; + typedef KDL::Wrench derivType; +}; + +template <> +struct Traits<KDL::Rotation> { + typedef KDL::Rotation valueType; + typedef KDL::Vector derivType; +}; + +template <> +struct Traits<KDL::Vector> { + typedef KDL::Vector valueType; + typedef KDL::Vector derivType; +}; + +template <> +struct Traits<double> { + typedef double valueType; + typedef double derivType; +}; + +template <> +struct Traits<float> { + typedef float valueType; + typedef float derivType; +}; + +template <> +struct Traits<KDL::FrameVel> { + typedef KDL::Frame valueType; + typedef KDL::TwistVel derivType; +}; +template <> +struct Traits<KDL::TwistVel> { + typedef KDL::Twist valueType; + typedef KDL::TwistVel derivType; +}; + +template <> +struct Traits<KDL::RotationVel> { + typedef KDL::Rotation valueType; + typedef KDL::VectorVel derivType; +}; + +template <> +struct Traits<KDL::VectorVel> { + typedef KDL::Vector valueType; + typedef KDL::VectorVel derivType; +}; + + + +#endif + + + diff --git a/intern/itasc/kdl/utilities/utility.cpp b/intern/itasc/kdl/utilities/utility.cpp new file mode 100644 index 00000000000..1ab9cb6f83d --- /dev/null +++ b/intern/itasc/kdl/utilities/utility.cpp @@ -0,0 +1,21 @@ +/** @file utility.cpp + * @author Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * @version + * ORO_Geometry V0.2 + * + * @par history + * - changed layout of the comments to accomodate doxygen + */ + +#include "utility.h" + +namespace KDL { + +int STREAMBUFFERSIZE=10000; +int MAXLENFILENAME = 255; +const double PI= 3.1415926535897932384626433832795; +const double deg2rad = 0.01745329251994329576923690768488; +const double rad2deg = 57.2957795130823208767981548141052; +double epsilon = 0.000001; +double epsilon2 = 0.000001*0.000001; +} diff --git a/intern/itasc/kdl/utilities/utility.h b/intern/itasc/kdl/utilities/utility.h new file mode 100644 index 00000000000..e7dcc55d8a8 --- /dev/null +++ b/intern/itasc/kdl/utilities/utility.h @@ -0,0 +1,298 @@ +/***************************************************************************** + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id: utility.h 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + * \file + * Included by most lrl-files to provide some general + * functions and macro definitions. + * + * \par history + * - changed layout of the comments to accomodate doxygen + */ + + +#ifndef KDL_UTILITY_H +#define KDL_UTILITY_H + +#include "kdl-config.h" +#include <cstdlib> +#include <cassert> +#include <cmath> + + +///////////////////////////////////////////////////////////// +// configurable options for the frames library. + +#ifdef KDL_INLINE + #ifdef _MSC_VER + // Microsoft Visual C + #define IMETHOD __forceinline + #else + // Some other compiler, e.g. gcc + #define IMETHOD inline + #endif +#else + #define IMETHOD +#endif + + + +//! turn on or off frames bounds checking. If turned on, assert() can still +//! be turned off with -DNDEBUG. +#ifdef KDL_INDEX_CHECK + #define FRAMES_CHECKI(a) assert(a) +#else + #define FRAMES_CHECKI(a) +#endif + + +namespace KDL { + +#ifdef __GNUC__ + // so that sin,cos can be overloaded and complete + // resolution of overloaded functions work. + using ::sin; + using ::cos; + using ::exp; + using ::log; + using ::sin; + using ::cos; + using ::tan; + using ::sinh; + using ::cosh; + using ::pow; + using ::sqrt; + using ::atan; + using ::hypot; + using ::asin; + using ::acos; + using ::tanh; + using ::atan2; +#endif +#ifndef __GNUC__ + //only real solution : get Rall1d and varia out of namespaces. + #pragma warning (disable:4786) + + inline double sin(double a) { + return ::sin(a); + } + + inline double cos(double a) { + return ::cos(a); + } + inline double exp(double a) { + return ::exp(a); + } + inline double log(double a) { + return ::log(a); + } + inline double tan(double a) { + return ::tan(a); + } + inline double cosh(double a) { + return ::cosh(a); + } + inline double sinh(double a) { + return ::sinh(a); + } + inline double sqrt(double a) { + return ::sqrt(a); + } + inline double atan(double a) { + return ::atan(a); + } + inline double acos(double a) { + return ::acos(a); + } + inline double asin(double a) { + return ::asin(a); + } + inline double tanh(double a) { + return ::tanh(a); + } + inline double pow(double a,double b) { + return ::pow(a,b); + } + inline double atan2(double a,double b) { + return ::atan2(a,b); + } +#endif + + + + + +/** + * Auxiliary class for argument types (Trait-template class ) + * + * Is used to pass doubles by value, and arbitrary objects by const reference. + * This is TWICE as fast (2 x less memory access) and avoids bugs in VC6++ concerning + * the assignment of the result of intrinsic functions to const double&-typed variables, + * and optimization on. + */ +template <class T> +class TI +{ + public: + typedef const T& Arg; //!< Arg is used for passing the element to a function. +}; + +template <> +class TI<double> { +public: + typedef double Arg; +}; + +template <> +class TI<int> { +public: + typedef int Arg; +}; + + + + + +/** + * /note linkage + * Something fishy about the difference between C++ and C + * in C++ const values default to INTERNAL linkage, in C they default + * to EXTERNAL linkage. Here the constants should have EXTERNAL linkage + * because they, for at least some of them, can be changed by the user. + * If you want to explicitly declare internal linkage, use "static". + */ +//! +extern int STREAMBUFFERSIZE; + +//! maximal length of a file name +extern int MAXLENFILENAME; + +//! the value of pi +extern const double PI; + +//! the value pi/180 +extern const double deg2rad; + +//! the value 180/pi +extern const double rad2deg; + +//! default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001. +extern double epsilon; + +//! power or 2 of epsilon +extern double epsilon2; + +//! the number of derivatives used in the RN-... objects. +extern int VSIZE; + + + +#ifndef _MFC_VER +#undef max +inline double max(double a,double b) { + if (b<a) + return a; + else + return b; +} + +#undef min +inline double min(double a,double b) { + if (b<a) + return b; + else + return a; +} +#endif + + +#ifdef _MSC_VER + //#pragma inline_depth( 255 ) + //#pragma inline_recursion( on ) + #define INLINE __forceinline + //#define INLINE inline +#else + #define INLINE inline +#endif + + +inline double LinComb(double alfa,double a, + double beta,double b ) { + return alfa*a+beta*b; +} + +inline void LinCombR(double alfa,double a, + double beta,double b,double& result ) { + result=alfa*a+beta*b; + } + +//! to uniformly set double, RNDouble,Vector,... objects to zero in template-classes +inline void SetToZero(double& arg) { + arg=0; +} + +//! to uniformly set double, RNDouble,Vector,... objects to the identity element in template-classes +inline void SetToIdentity(double& arg) { + arg=1; +} + +inline double sign(double arg) { + return (arg<0)?(-1):(1); +} + +inline double sqr(double arg) { return arg*arg;} +inline double Norm(double arg) { + return fabs( (double)arg ); +} + +#ifdef __WIN32__ +inline double hypot(double y,double x) { return ::_hypot(y,x);} +inline double abs(double x) { return ::fabs(x);} +#endif + +// compares whether 2 doubles are equal in an eps-interval. +// Does not check whether a or b represents numbers +// On VC6, if a/b is -INF, it returns false; +inline bool Equal(double a,double b,double eps=epsilon) +{ + double tmp=(a-b); + return ((eps>tmp)&& (tmp>-eps) ); +} + +inline void random(double& a) { + a = 1.98*rand()/(double)RAND_MAX -0.99; +} + +inline void posrandom(double& a) { + a = 0.001+0.99*rand()/(double)RAND_MAX; +} + +inline double diff(double a,double b,double dt) { + return (b-a)/dt; +} +//inline float diff(float a,float b,double dt) { +//return (b-a)/dt; +//} +inline double addDelta(double a,double da,double dt) { + return a+da*dt; +} + +//inline float addDelta(float a,float da,double dt) { +// return a+da*dt; +//} + + +} + + + +#endif diff --git a/intern/itasc/kdl/utilities/utility_io.cpp b/intern/itasc/kdl/utilities/utility_io.cpp new file mode 100644 index 00000000000..ae65047fdbc --- /dev/null +++ b/intern/itasc/kdl/utilities/utility_io.cpp @@ -0,0 +1,208 @@ +/***************************************************************************** + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id: utility_io.cpp 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + * \todo + * make IO routines more robust against the differences between DOS/UNIX end-of-line style. + ****************************************************************************/ + + +#include "utility_io.h" +#include "error.h" + +#include <stdlib.h> +#include <ctype.h> +#include <string.h> + +namespace KDL { + +// +// _functions are private functions +// + + void _check_istream(std::istream& is) + { + if ((!is.good())&&(is.eof()) ) + { + throw Error_BasicIO_File(); + } + } +// Eats until the end of the line + int _EatUntilEndOfLine( std::istream& is, int* countp=NULL) { + int ch; + int count; + count = 0; + do { + ch = is.get(); + count++; + _check_istream(is); + } while (ch!='\n'); + if (countp!=NULL) *countp = count; + return ch; +} + +// Eats until the end of the comment + int _EatUntilEndOfComment( std::istream& is, int* countp=NULL) { + int ch; + int count; + count = 0; + int prevch; + ch = 0; + do { + prevch = ch; + ch = is.get(); + count++; + _check_istream(is); + if ((prevch=='*')&&(ch=='/')) { + break; + } + } while (true); + if (countp!=NULL) *countp = count; + ch = is.get(); + return ch; +} + +// Eats space-like characters and comments +// possibly returns the number of space-like characters eaten. +int _EatSpace( std::istream& is,int* countp=NULL) { + int ch; + int count; + count=-1; + do { + _check_istream(is); + + ch = is.get(); + count++; + if (ch == '#') { + ch = _EatUntilEndOfLine(is,&count); + } + if (ch == '/') { + ch = is.get(); + if (ch == '/') { + ch = _EatUntilEndOfLine(is,&count); + } else if (ch == '*') { + ch = _EatUntilEndOfComment(is,&count); + } else { + is.putback(ch); + ch = '/'; + } + } + } while ((ch==' ')||(ch=='\n')||(ch=='\t')); + if (countp!=NULL) *countp = count; + return ch; +} + + + +// Eats whites, returns, tabs and the delim character +// Checks wether delim char. is encountered. +void Eat( std::istream& is, int delim ) +{ + int ch; + ch=_EatSpace(is); + if (ch != delim) { + throw Error_BasicIO_Exp_Delim(); + } + ch=_EatSpace(is); + is.putback(ch); +} + +// Eats whites, returns, tabs and the delim character +// Checks wether delim char. is encountered. +// EatEnd does not eat all space-like char's at the end. +void EatEnd( std::istream& is, int delim ) +{ + int ch; + ch=_EatSpace(is); + if (ch != delim) { + throw Error_BasicIO_Exp_Delim(); + } +} + + + +// For each space in descript, this routine eats whites,tabs, and newlines (at least one) +// There should be no consecutive spaces in the description. +// for each letter in descript, its reads the corresponding letter in the output +// the routine is case insensitive. + + +// Simple routine, enough for our purposes. +// works with ASCII chars +inline char Upper(char ch) +{ + /*if (('a'<=ch)&&(ch<='z')) + return (ch-'a'+'A'); + else + return ch; + */ + return toupper(ch); +} + +void Eat(std::istream& is,const char* descript) +{ + // eats whites before word + char ch; + char chdescr; + ch=_EatSpace(is); + is.putback(ch); + const char* p; + p = descript; + while ((*p)!=0) { + chdescr = (char)Upper(*p); + if (chdescr==' ') { + int count=0; + ch=_EatSpace(is,&count); + is.putback(ch); + if (count==0) { + throw Error_BasicIO_Not_A_Space(); + } + } else { + ch=(char)is.get(); + if (chdescr!=Upper(ch)) { + throw Error_BasicIO_Unexpected(); + } + } + p++; + } + +} + + + +void EatWord(std::istream& is,const char* delim,char* storage,int maxsize) +{ + int ch; + char* p; + int size; + // eat white before word + ch=_EatSpace(is); + p = storage; + size=0; + int count = 0; + while ((count==0)&&(strchr(delim,ch)==NULL)) { + *p = (char) toupper(ch); + ++p; + if (size==maxsize) { + throw Error_BasicIO_ToBig(); + } + _check_istream(is); + ++size; + //ch = is.get(); + ch =_EatSpace(is,&count); + } + *p=0; + is.putback(ch); +} + + +} diff --git a/intern/itasc/kdl/utilities/utility_io.h b/intern/itasc/kdl/utilities/utility_io.h new file mode 100644 index 00000000000..7c3d4f91296 --- /dev/null +++ b/intern/itasc/kdl/utilities/utility_io.h @@ -0,0 +1,79 @@ +/***************************************************************************** + * \author + * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven + * + * \version + * ORO_Geometry V0.2 + * + * \par History + * - $log$ + * + * \par Release + * $Id: utility_io.h 19905 2009-04-23 13:29:54Z ben2610 $ + * $Name: $ + * + * \file utility_io.h + * Included by most lrl-files to provide some general + * functions and macro definitions related to file/stream I/O. + */ + +#ifndef KDL_UTILITY_IO_H_84822 +#define KDL_UTILITY_IO_H_84822 + +//#include <kdl/kdl-config.h> + + +// Standard includes +#include <iostream> +#include <iomanip> +#include <fstream> + + +namespace KDL { + + +/** + * checks validity of basic io of is + */ +void _check_istream(std::istream& is); + + +/** + * Eats characters of the stream until the character delim is encountered + * @param is a stream + * @param delim eat until this character is encountered + */ +void Eat(std::istream& is, int delim ); + +/** + * Eats characters of the stream as long as they satisfy the description in descript + * @param is a stream + * @param descript description string. A sequence of spaces, tabs, + * new-lines and comments is regarded as 1 space in the description string. + */ +void Eat(std::istream& is,const char* descript); + +/** + * Eats a word of the stream delimited by the letters in delim or space(tabs...) + * @param is a stream + * @param delim a string containing the delimmiting characters + * @param storage for returning the word + * @param maxsize a word can be maximally maxsize-1 long. + */ +void EatWord(std::istream& is,const char* delim,char* storage,int maxsize); + +/** + * Eats characters of the stream until the character delim is encountered + * similar to Eat(is,delim) but spaces at the end are not read. + * @param is a stream + * @param delim eat until this character is encountered + */ +void EatEnd( std::istream& is, int delim ); + + + + +} + + +#endif diff --git a/intern/itasc/make/msvc_9_0/itasc.vcproj b/intern/itasc/make/msvc_9_0/itasc.vcproj new file mode 100644 index 00000000000..f4a81079da0 --- /dev/null +++ b/intern/itasc/make/msvc_9_0/itasc.vcproj @@ -0,0 +1,539 @@ +<?xml version="1.0" encoding="Windows-1252"?>
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+ </Globals>
+</VisualStudioProject>
diff --git a/intern/itasc/ublas_types.hpp b/intern/itasc/ublas_types.hpp new file mode 100644 index 00000000000..bf9bdcc26f2 --- /dev/null +++ b/intern/itasc/ublas_types.hpp @@ -0,0 +1,82 @@ +/* + * ublas_types.hpp + * + * Created on: Jan 5, 2009 + * Author: rubensmits + */ + +#ifndef UBLAS_TYPES_HPP_ +#define UBLAS_TYPES_HPP_ + +#include <boost/numeric/ublas/matrix.hpp> +#include <boost/numeric/ublas/vector.hpp> +#include <boost/numeric/ublas/matrix_proxy.hpp> +#include <boost/numeric/ublas/vector_proxy.hpp> +#include "kdl/frames.hpp" +#include "kdl/tree.hpp" +#include "kdl/chain.hpp" +#include "kdl/jacobian.hpp" +#include "kdl/jntarray.hpp" + + +namespace iTaSC{ + +namespace ublas = boost::numeric::ublas; +using KDL::Twist; +using KDL::Frame; +using KDL::Joint; +using KDL::Inertia; +using KDL::SegmentMap; +using KDL::Tree; +using KDL::JntArray; +using KDL::Jacobian; +using KDL::Segment; +using KDL::Rotation; +using KDL::Vector; +using KDL::Chain; + +#define u_scalar double +#define u_vector ublas::vector<u_scalar> +#define u_zero_vector ublas::zero_vector<u_scalar> +#define u_matrix ublas::matrix<u_scalar> +#define u_matrix6 ublas::matrix<u_scalar,6,6> +#define u_identity_matrix ublas::identity_matrix<u_scalar> +#define u_scalar_vector ublas::scalar_vector<u_scalar> +#define u_zero_matrix ublas::zero_matrix<u_scalar> +#define u_vector6 ublas::bounded_vector<u_scalar,6> + +inline static int changeBase(const u_matrix& J_in, const Frame& T, u_matrix& J_out) { + + if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2()) + return -1; + for (unsigned int j = 0; j < J_in.size2(); ++j) { + ublas::matrix_column<const u_matrix > Jj_in = column(J_in,j); + ublas::matrix_column<u_matrix > Jj_out = column(J_out,j); + Twist arg; + for(unsigned int i=0;i<6;++i) + arg(i)=Jj_in(i); + Twist tmp(T*arg); + for(unsigned int i=0;i<6;++i) + Jj_out(i)=tmp(i); + } + return 0; +} +inline static int changeBase(const ublas::matrix_range<u_matrix >& J_in, const Frame& T, ublas::matrix_range<u_matrix >& J_out) { + + if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2()) + return -1; + for (unsigned int j = 0; j < J_in.size2(); ++j) { + ublas::matrix_column<const ublas::matrix_range<u_matrix > > Jj_in = column(J_in,j); + ublas::matrix_column<ublas::matrix_range<u_matrix > > Jj_out = column(J_out,j); + Twist arg; + for(unsigned int i=0;i<6;++i) + arg(i)=Jj_in(i); + Twist tmp(T*arg); + for(unsigned int i=0;i<6;++i) + Jj_out(i)=tmp(i); + } + return 0; +} + +} +#endif /* UBLAS_TYPES_HPP_ */ diff --git a/intern/memutil/SConscript b/intern/memutil/SConscript index 4528de814f3..318d4a3997e 100644 --- a/intern/memutil/SConscript +++ b/intern/memutil/SConscript @@ -5,4 +5,4 @@ sources = env.Glob('intern/*.cpp') incs = '. ..' -env.BlenderLib ('bf_memutil', sources, Split(incs), [], libtype=['intern', 'player'], priority = [0, 180] ) +env.BlenderLib ('bf_memutil', sources, Split(incs), [], libtype=['intern','player'], priority = [0,155] ) diff --git a/intern/memutil/make/msvc_9_0/memutil.vcproj b/intern/memutil/make/msvc_9_0/memutil.vcproj index 6f642fb16bc..0b8251f0d7e 100644 --- a/intern/memutil/make/msvc_9_0/memutil.vcproj +++ b/intern/memutil/make/msvc_9_0/memutil.vcproj @@ -119,6 +119,7 @@ />
<Tool
Name="VCCLCompilerTool"
+ Optimization="2"
InlineFunctionExpansion="2"
AdditionalIncludeDirectories="..\..\..\..\intern;..\..\..\memutil"
PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
diff --git a/intern/moto/SConscript b/intern/moto/SConscript index a730e6de535..d9bbafe4623 100644 --- a/intern/moto/SConscript +++ b/intern/moto/SConscript @@ -5,4 +5,4 @@ sources = env.Glob('intern/*.cpp') incs = 'include' -env.BlenderLib ('bf_moto', sources, Split(incs), [], libtype=['intern'], priority = [130] ) +env.BlenderLib ('bf_moto', sources, Split(incs), [], libtype=['intern','player'], priority = [130,95] ) diff --git a/intern/moto/make/msvc_9_0/moto.vcproj b/intern/moto/make/msvc_9_0/moto.vcproj index b33bb165a75..34c5705e2f2 100644 --- a/intern/moto/make/msvc_9_0/moto.vcproj +++ b/intern/moto/make/msvc_9_0/moto.vcproj @@ -42,6 +42,7 @@ />
<Tool
Name="VCCLCompilerTool"
+ Optimization="2"
InlineFunctionExpansion="2"
AdditionalIncludeDirectories="..\..\include\"
PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
diff --git a/intern/opennl/superlu/BLO_sys_types.h b/intern/opennl/superlu/BLO_sys_types.h index 411a8582f96..56a27ec17ce 100644 --- a/intern/opennl/superlu/BLO_sys_types.h +++ b/intern/opennl/superlu/BLO_sys_types.h @@ -83,7 +83,7 @@ typedef unsigned long uintptr_t; #define _UINTPTR_T_DEFINED #endif -#elif defined(__linux__) +#elif defined(__linux__) || defined(__NetBSD__) /* Linux-i386, Linux-Alpha, Linux-ppc */ #include <stdint.h> diff --git a/intern/smoke/CMakeLists.txt b/intern/smoke/CMakeLists.txt new file mode 100644 index 00000000000..8ed7a7c9115 --- /dev/null +++ b/intern/smoke/CMakeLists.txt @@ -0,0 +1,42 @@ +# $Id$ +# ***** BEGIN GPL LICENSE BLOCK ***** +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 +# of the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software Foundation, +# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# The Original Code is Copyright (C) 2006, Blender Foundation +# All rights reserved. +# +# The Original Code is: all of this file. +# +# Contributor(s): Daniel Genrich +# +# ***** END GPL LICENSE BLOCK ***** + +SET(INC ${PNG_INC} ${ZLIB_INC} intern ../../extern/bullet2/src ../memutil ../guardealloc) + +FILE(GLOB SRC intern/*.cpp) + +IF(WITH_OPENMP) + ADD_DEFINITIONS(-DPARALLEL=1) +ENDIF(WITH_OPENMP) + +IF(WITH_FFTW3) + ADD_DEFINITIONS(-DFFTW3=1) + SET(INC ${INC} ${FFTW3_INC}) +ENDIF(WITH_FFTW3) + + +BLENDERLIB(bf_smoke "${SRC}" "${INC}") +#, libtype='blender', priority = 0 ) diff --git a/intern/SoundSystem/Makefile b/intern/smoke/Makefile index 4d346f65138..e5144a9c3f8 100644 --- a/intern/SoundSystem/Makefile +++ b/intern/smoke/Makefile @@ -24,47 +24,31 @@ # # The Original Code is: all of this file. # -# Contributor(s): GSR +# Contributor(s): Hans Lambermont, GSR # # ***** END GPL LICENSE BLOCK ***** -# +# smoke main makefile. # include nan_definitions.mk -LIBNAME = SoundSystem -SOURCEDIR = intern/SoundSystem +unexport NAN_QUIET + +LIBNAME = smoke +SOURCEDIR = intern/$(LIBNAME) DIR = $(OCGDIR)/$(SOURCEDIR) DIRS = intern -DIRS += dummy - -ifneq ($(NAN_NO_OPENAL),true) - ifeq ($(OS),windows) - DIRS += openal sdl - endif - ifeq ($(OS),darwin) - DIRS += openal - endif - ifeq ($(OS),$(findstring $(OS), "linux freebsd solaris")) - DIRS += openal sdl - endif - ifeq ($(OS), irix) - DIRS += sdl - endif -else - export CPPFLAGS += -DNO_SOUND -endif +#not ready yet TESTDIRS = test include nan_subdirs.mk install: $(ALL_OR_DEBUG) - @[ -d $(NAN_SOUNDSYSTEM) ] || mkdir $(NAN_SOUNDSYSTEM) - @[ -d $(NAN_SOUNDSYSTEM)/include ] || mkdir $(NAN_SOUNDSYSTEM)/include - @[ -d $(NAN_SOUNDSYSTEM)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_SOUNDSYSTEM)/lib/$(DEBUG_DIR) - @../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)libSoundSystem.a $(NAN_SOUNDSYSTEM)/lib/$(DEBUG_DIR) + @[ -d $(NAN_SMOKE) ] || mkdir $(NAN_SMOKE) + @[ -d $(NAN_SMOKE)/include ] || mkdir $(NAN_SMOKE)/include + @[ -d $(NAN_SMOKE)/lib/$(DEBUG_DIR) ] || mkdir $(NAN_SMOKE)/lib/$(DEBUG_DIR) + @../tools/cpifdiff.sh $(DIR)/$(DEBUG_DIR)lib$(LIBNAME).a $(NAN_SMOKE)/lib/$(DEBUG_DIR) ifeq ($(OS),darwin) - ranlib $(NAN_SOUNDSYSTEM)/lib/$(DEBUG_DIR)libSoundSystem.a + ranlib $(NAN_SMOKE)/lib/$(DEBUG_DIR)lib$(LIBNAME).a endif - @../tools/cpifdiff.sh *.h $(NAN_SOUNDSYSTEM)/include/ - + @../tools/cpifdiff.sh extern/*.h $(NAN_SMOKE)/include/ diff --git a/intern/smoke/SConscript b/intern/smoke/SConscript new file mode 100644 index 00000000000..af5bf1aeb20 --- /dev/null +++ b/intern/smoke/SConscript @@ -0,0 +1,18 @@ +#!/usr/bin/python +Import ('env') + +sources = env.Glob('intern/*.cpp') + +defs = '' + +if env['WITH_BF_OPENMP']: + defs += ' PARALLEL=1' + +incs = env['BF_PNG_INC'] + ' ' + env['BF_ZLIB_INC'] +incs += ' intern ../../extern/bullet2/src ../memutil ../guardealloc ' + +if env['WITH_BF_FFTW3']: + defs += ' FFTW3=1' + incs += env['BF_FFTW3_INC'] + +env.BlenderLib ('bf_smoke', sources, Split(incs), Split(defs), libtype=['intern'], priority=[40] ) diff --git a/intern/smoke/extern/smoke_API.h b/intern/smoke/extern/smoke_API.h new file mode 100644 index 00000000000..5607df70cf3 --- /dev/null +++ b/intern/smoke/extern/smoke_API.h @@ -0,0 +1,79 @@ +/** + * $Id$ + * + * ***** BEGIN GPL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * The Original Code is Copyright (C) 2009 by Daniel Genrich + * All rights reserved. + * + * Contributor(s): Daniel Genrich + * + * ***** END GPL LICENSE BLOCK ***** + */ + +#ifndef SMOKE_API_H_ +#define SMOKE_API_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +struct FLUID_3D; + +// export +void smoke_export(struct FLUID_3D *fluid, float *dt, float *dx, float **dens, float **densold, float **heat, float **heatold, float **vx, float **vy, float **vz, float **vxold, float **vyold, float **vzold, unsigned char **obstacles); + +// low res +struct FLUID_3D *smoke_init(int *res, float *p0, float dt); +void smoke_free(struct FLUID_3D *fluid); + +void smoke_initBlenderRNA(struct FLUID_3D *fluid, float *alpha, float *beta); +void smoke_step(struct FLUID_3D *fluid, size_t framenr); + +float *smoke_get_density(struct FLUID_3D *fluid); +float *smoke_get_heat(struct FLUID_3D *fluid); +float *smoke_get_velocity_x(struct FLUID_3D *fluid); +float *smoke_get_velocity_y(struct FLUID_3D *fluid); +float *smoke_get_velocity_z(struct FLUID_3D *fluid); + +unsigned char *smoke_get_obstacle(struct FLUID_3D *fluid); + +size_t smoke_get_index(int x, int max_x, int y, int max_y, int z); +size_t smoke_get_index2d(int x, int max_x, int y); + +void smoke_dissolve(struct FLUID_3D *fluid, int speed, int log); + +// wavelet turbulence functions +struct WTURBULENCE *smoke_turbulence_init(int *res, int amplify, int noisetype); +void smoke_turbulence_free(struct WTURBULENCE *wt); +void smoke_turbulence_step(struct WTURBULENCE *wt, struct FLUID_3D *fluid); + +float *smoke_turbulence_get_density(struct WTURBULENCE *wt); +void smoke_turbulence_get_res(struct WTURBULENCE *wt, int *res); +void smoke_turbulence_set_noise(struct WTURBULENCE *wt, int type); +void smoke_initWaveletBlenderRNA(struct WTURBULENCE *wt, float *strength); + +void smoke_dissolve_wavelet(struct WTURBULENCE *wt, int speed, int log); + +// export +void smoke_turbulence_export(struct WTURBULENCE *wt, float **dens, float **densold, float **tcu, float **tcv, float **tcw); + +#ifdef __cplusplus +} +#endif + +#endif /* SMOKE_API_H_ */ diff --git a/intern/smoke/intern/EIGENVALUE_HELPER.h b/intern/smoke/intern/EIGENVALUE_HELPER.h new file mode 100644 index 00000000000..6ff61c5ca8e --- /dev/null +++ b/intern/smoke/intern/EIGENVALUE_HELPER.h @@ -0,0 +1,47 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +////////////////////////////////////////////////////////////////////// +// Helper function, compute eigenvalues of 3x3 matrix +////////////////////////////////////////////////////////////////////// + +#include "tnt/jama_eig.h" + +////////////////////////////////////////////////////////////////////// +// eigenvalues of 3x3 non-symmetric matrix +////////////////////////////////////////////////////////////////////// +int inline computeEigenvalues3x3( + float dout[3], + float a[3][3]) +{ + TNT::Array2D<float> A = TNT::Array2D<float>(3,3, &a[0][0]); + TNT::Array1D<float> eig = TNT::Array1D<float>(3); + TNT::Array1D<float> eigImag = TNT::Array1D<float>(3); + JAMA::Eigenvalue<float> jeig = JAMA::Eigenvalue<float>(A); + jeig.getRealEigenvalues(eig); + + // complex ones + jeig.getImagEigenvalues(eigImag); + dout[0] = sqrt(eig[0]*eig[0] + eigImag[0]*eigImag[0]); + dout[1] = sqrt(eig[1]*eig[1] + eigImag[1]*eigImag[1]); + dout[2] = sqrt(eig[2]*eig[2] + eigImag[2]*eigImag[2]); + return 0; +} + +#undef rfabs +#undef ROT diff --git a/intern/smoke/intern/FFT_NOISE.h b/intern/smoke/intern/FFT_NOISE.h new file mode 100644 index 00000000000..2c278cdc4fc --- /dev/null +++ b/intern/smoke/intern/FFT_NOISE.h @@ -0,0 +1,178 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +///////////////////////////////////////////////////////////////////////// +// + +#ifndef FFT_NOISE_H_ +#define FFT_NOISE_H_ + +#if FFTW3==1 +#include <iostream> +#include <fftw3.h> +#include <MERSENNETWISTER.h> + +#include "WAVELET_NOISE.h" + +#ifndef M_PI +#define M_PI 3.14159265 +#endif + +///////////////////////////////////////////////////////////////////////// +// shift spectrum to the format that FFTW expects +///////////////////////////////////////////////////////////////////////// +static void shift3D(float*& field, int xRes, int yRes, int zRes) +{ + int xHalf = xRes / 2; + int yHalf = yRes / 2; + int zHalf = zRes / 2; + // int slabSize = xRes * yRes; + for (int z = 0; z < zHalf; z++) + for (int y = 0; y < yHalf; y++) + for (int x = 0; x < xHalf; x++) + { + int index = x + y * xRes + z * xRes * yRes; + float temp; + int xSwap = xHalf; + int ySwap = yHalf * xRes; + int zSwap = zHalf * xRes * yRes; + + // [0,0,0] to [1,1,1] + temp = field[index]; + field[index] = field[index + xSwap + ySwap + zSwap]; + field[index + xSwap + ySwap + zSwap] = temp; + + // [1,0,0] to [0,1,1] + temp = field[index + xSwap]; + field[index + xSwap] = field[index + ySwap + zSwap]; + field[index + ySwap + zSwap] = temp; + + // [0,1,0] to [1,0,1] + temp = field[index + ySwap]; + field[index + ySwap] = field[index + xSwap + zSwap]; + field[index + xSwap + zSwap] = temp; + + // [0,0,1] to [1,1,0] + temp = field[index + zSwap]; + field[index + zSwap] = field[index + xSwap + ySwap]; + field[index + xSwap + ySwap] = temp; + } +} + +static void generatTile_FFT(float* const noiseTileData, std::string filename) +{ + if (loadTile(noiseTileData, filename)) return; + + int res = NOISE_TILE_SIZE; + int xRes = res; + int yRes = res; + int zRes = res; + int totalCells = xRes * yRes * zRes; + + // create and shift the filter + float* filter = new float[totalCells]; + for (int z = 0; z < zRes; z++) + for (int y = 0; y < yRes; y++) + for (int x = 0; x < xRes; x++) + { + int index = x + y * xRes + z * xRes * yRes; + float diff[] = {abs(x - xRes/2), + abs(y - yRes/2), + abs(z - zRes/2)}; + float radius = sqrtf(diff[0] * diff[0] + + diff[1] * diff[1] + + diff[2] * diff[2]) / (xRes / 2); + radius *= M_PI; + float H = cos((M_PI / 2.0f) * log(4.0f * radius / M_PI) / log(2.0f)); + H = H * H; + float filtered = H; + + // clamp everything outside the wanted band + if (radius >= M_PI / 2.0f) + filtered = 0.0f; + + // make sure to capture all low frequencies + if (radius <= M_PI / 4.0f) + filtered = 1.0f; + + filter[index] = filtered; + } + shift3D(filter, xRes, yRes, zRes); + + // create the noise + float* noise = new float[totalCells]; + int index = 0; + MTRand twister; + for (int z = 0; z < zRes; z++) + for (int y = 0; y < yRes; y++) + for (int x = 0; x < xRes; x++, index++) + noise[index] = twister.randNorm(); + + // create padded field + fftw_complex* forward = (fftw_complex*)fftw_malloc(sizeof(fftw_complex) * totalCells); + + // init padded field + index = 0; + for (int z = 0; z < zRes; z++) + for (int y = 0; y < yRes; y++) + for (int x = 0; x < xRes; x++, index++) + { + forward[index][0] = noise[index]; + forward[index][1] = 0.0f; + } + + // forward FFT + fftw_complex* backward = (fftw_complex*)fftw_malloc(sizeof(fftw_complex) * totalCells); + fftw_plan forwardPlan = fftw_plan_dft_3d(xRes, yRes, zRes, forward, backward, FFTW_FORWARD, FFTW_ESTIMATE); + fftw_execute(forwardPlan); + fftw_destroy_plan(forwardPlan); + + // apply filter + index = 0; + for (int z = 0; z < zRes; z++) + for (int y = 0; y < yRes; y++) + for (int x = 0; x < xRes; x++, index++) + { + backward[index][0] *= filter[index]; + backward[index][1] *= filter[index]; + } + + // backward FFT + fftw_plan backwardPlan = fftw_plan_dft_3d(xRes, yRes, zRes, backward, forward, FFTW_BACKWARD, FFTW_ESTIMATE); + fftw_execute(backwardPlan); + fftw_destroy_plan(backwardPlan); + + // subtract out the low frequency components + index = 0; + for (int z = 0; z < zRes; z++) + for (int y = 0; y < yRes; y++) + for (int x = 0; x < xRes; x++, index++) + noise[index] -= forward[index][0] / totalCells; + + // save out the noise tile + saveTile(noise, filename); + + fftw_free(forward); + fftw_free(backward); + delete[] filter; + delete[] noise; +} + +#endif + +#endif /* FFT_NOISE_H_ */ diff --git a/intern/smoke/intern/FLUID_3D.cpp b/intern/smoke/intern/FLUID_3D.cpp new file mode 100644 index 00000000000..8a32eaa2e68 --- /dev/null +++ b/intern/smoke/intern/FLUID_3D.cpp @@ -0,0 +1,717 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +// FLUID_3D.cpp: implementation of the FLUID_3D class. +// +////////////////////////////////////////////////////////////////////// + +#include "FLUID_3D.h" +#include "IMAGE.h" +#include <INTERPOLATE.h> +#include "SPHERE.h" +#include <zlib.h> + +// boundary conditions of the fluid domain +#define DOMAIN_BC_FRONT 0 // z +#define DOMAIN_BC_TOP 1 // y +#define DOMAIN_BC_LEFT 1 // x +#define DOMAIN_BC_BACK DOMAIN_BC_FRONT +#define DOMAIN_BC_BOTTOM DOMAIN_BC_TOP +#define DOMAIN_BC_RIGHT DOMAIN_BC_LEFT + +////////////////////////////////////////////////////////////////////// +// Construction/Destruction +////////////////////////////////////////////////////////////////////// + +FLUID_3D::FLUID_3D(int *res, float *p0, float dt) : + _xRes(res[0]), _yRes(res[1]), _zRes(res[2]), _res(0.0f), _dt(dt) +{ + // set simulation consts + // _dt = dt; // 0.10 + + // start point of array + _p0[0] = p0[0]; + _p0[1] = p0[1]; + _p0[2] = p0[2]; + + _iterations = 100; + _tempAmb = 0; + _heatDiffusion = 1e-3; + _vorticityEps = 2.0; + _totalTime = 0.0f; + _totalSteps = 0; + _res = Vec3Int(_xRes,_yRes,_zRes); + _maxRes = MAX3(_xRes, _yRes, _zRes); + + // initialize wavelet turbulence + /* + if(amplify) + _wTurbulence = new WTURBULENCE(_res[0],_res[1],_res[2], amplify, noisetype); + else + _wTurbulence = NULL; + */ + + // scale the constants according to the refinement of the grid + _dx = 1.0f / (float)_maxRes; + float scaling = 64.0f / _maxRes; + scaling = (scaling < 1.0f) ? 1.0f : scaling; + _vorticityEps /= scaling; + + // allocate arrays + _totalCells = _xRes * _yRes * _zRes; + _slabSize = _xRes * _yRes; + _xVelocity = new float[_totalCells]; + _yVelocity = new float[_totalCells]; + _zVelocity = new float[_totalCells]; + _xVelocityOld = new float[_totalCells]; + _yVelocityOld = new float[_totalCells]; + _zVelocityOld = new float[_totalCells]; + _xForce = new float[_totalCells]; + _yForce = new float[_totalCells]; + _zForce = new float[_totalCells]; + _density = new float[_totalCells]; + _densityOld = new float[_totalCells]; + _heat = new float[_totalCells]; + _heatOld = new float[_totalCells]; + _obstacles = new unsigned char[_totalCells]; // set 0 at end of step + + // DG TODO: check if alloc went fine + + for (int x = 0; x < _totalCells; x++) + { + _density[x] = 0.0f; + _densityOld[x] = 0.0f; + _heat[x] = 0.0f; + _heatOld[x] = 0.0f; + _xVelocity[x] = 0.0f; + _yVelocity[x] = 0.0f; + _zVelocity[x] = 0.0f; + _xVelocityOld[x] = 0.0f; + _yVelocityOld[x] = 0.0f; + _zVelocityOld[x] = 0.0f; + _xForce[x] = 0.0f; + _yForce[x] = 0.0f; + _zForce[x] = 0.0f; + _obstacles[x] = false; + } + + // set side obstacles + int index; + for (int y = 0; y < _yRes; y++) + for (int x = 0; x < _xRes; x++) + { + // front slab + index = x + y * _xRes; + if(DOMAIN_BC_FRONT==1) _obstacles[index] = 1; + + // back slab + index += _totalCells - _slabSize; + if(DOMAIN_BC_BACK==1) _obstacles[index] = 1; + } + + for (int z = 0; z < _zRes; z++) + for (int x = 0; x < _xRes; x++) + { + // bottom slab + index = x + z * _slabSize; + if(DOMAIN_BC_BOTTOM==1) _obstacles[index] = 1; + + // top slab + index += _slabSize - _xRes; + if(DOMAIN_BC_TOP==1) _obstacles[index] = 1; + } + + for (int z = 0; z < _zRes; z++) + for (int y = 0; y < _yRes; y++) + { + // left slab + index = y * _xRes + z * _slabSize; + if(DOMAIN_BC_LEFT==1) _obstacles[index] = 1; + + // right slab + index += _xRes - 1; + if(DOMAIN_BC_RIGHT==1) _obstacles[index] = 1; + } +} + +FLUID_3D::~FLUID_3D() +{ + if (_xVelocity) delete[] _xVelocity; + if (_yVelocity) delete[] _yVelocity; + if (_zVelocity) delete[] _zVelocity; + if (_xVelocityOld) delete[] _xVelocityOld; + if (_yVelocityOld) delete[] _yVelocityOld; + if (_zVelocityOld) delete[] _zVelocityOld; + if (_xForce) delete[] _xForce; + if (_yForce) delete[] _yForce; + if (_zForce) delete[] _zForce; + if (_density) delete[] _density; + if (_densityOld) delete[] _densityOld; + if (_heat) delete[] _heat; + if (_heatOld) delete[] _heatOld; + if (_obstacles) delete[] _obstacles; + // if (_wTurbulence) delete _wTurbulence; + + // printf("deleted fluid\n"); +} + +// init direct access functions from blender +void FLUID_3D::initBlenderRNA(float *alpha, float *beta) +{ + _alpha = alpha; + _beta = beta; +} + +////////////////////////////////////////////////////////////////////// +// step simulation once +////////////////////////////////////////////////////////////////////// +void FLUID_3D::step() +{ + // addSmokeTestCase(_density, _res); + // addSmokeTestCase(_heat, _res); + + // wipe forces + for (int i = 0; i < _totalCells; i++) + { + _xForce[i] = _yForce[i] = _zForce[i] = 0.0f; + // _obstacles[i] &= ~2; + } + + wipeBoundaries(); + + // run the solvers + addVorticity(); + addBuoyancy(_heat, _density); + addForce(); + project(); + diffuseHeat(); + + // advect everything + advectMacCormack(); + + // if(_wTurbulence) { + // _wTurbulence->stepTurbulenceFull(_dt/_dx, + // _xVelocity, _yVelocity, _zVelocity, _obstacles); + // _wTurbulence->stepTurbulenceReadable(_dt/_dx, + // _xVelocity, _yVelocity, _zVelocity, _obstacles); + // } +/* + // no file output + float *src = _density; + string prefix = string("./original.preview/density_fullxy_"); + writeImageSliceXY(src,_res, _res[2]/2, prefix, _totalSteps); +*/ + // artificial damping -- this is necessary because we use a + // collated grid, and at very coarse grid resolutions, banding + // artifacts can occur + artificialDamping(_xVelocity); + artificialDamping(_yVelocity); + artificialDamping(_zVelocity); +/* +// no file output + string pbrtPrefix = string("./pbrt/density_small_"); + IMAGE::dumpPBRT(_totalSteps, pbrtPrefix, _density, _res[0],_res[1],_res[2]); + */ + _totalTime += _dt; + _totalSteps++; + + // todo xxx dg: only clear obstacles, not boundaries + // memset(_obstacles, 0, sizeof(unsigned char)*_xRes*_yRes*_zRes); +} + +////////////////////////////////////////////////////////////////////// +// helper function to dampen co-located grid artifacts of given arrays in intervals +// (only needed for velocity, strength (w) depends on testcase... +////////////////////////////////////////////////////////////////////// +void FLUID_3D::artificialDamping(float* field) { + const float w = 0.9; + if(_totalSteps % 4 == 1) { + for (int z = 1; z < _res[2]-1; z++) + for (int y = 1; y < _res[1]-1; y++) + for (int x = 1+(y+z)%2; x < _res[0]-1; x+=2) { + const int index = x + y*_res[0] + z * _slabSize; + field[index] = (1-w)*field[index] + 1./6. * w*( + field[index+1] + field[index-1] + + field[index+_res[0]] + field[index-_res[0]] + + field[index+_slabSize] + field[index-_slabSize] ); + } + } + if(_totalSteps % 4 == 3) { + for (int z = 1; z < _res[2]-1; z++) + for (int y = 1; y < _res[1]-1; y++) + for (int x = 1+(y+z+1)%2; x < _res[0]-1; x+=2) { + const int index = x + y*_res[0] + z * _slabSize; + field[index] = (1-w)*field[index] + 1./6. * w*( + field[index+1] + field[index-1] + + field[index+_res[0]] + field[index-_res[0]] + + field[index+_slabSize] + field[index-_slabSize] ); + } + } +} + +////////////////////////////////////////////////////////////////////// +// copy out the boundary in all directions +////////////////////////////////////////////////////////////////////// +void FLUID_3D::copyBorderAll(float* field) +{ + int index; + for (int y = 0; y < _yRes; y++) + for (int x = 0; x < _xRes; x++) + { + // front slab + index = x + y * _xRes; + field[index] = field[index + _slabSize]; + + // back slab + index += _totalCells - _slabSize; + field[index] = field[index - _slabSize]; + } + + for (int z = 0; z < _zRes; z++) + for (int x = 0; x < _xRes; x++) + { + // bottom slab + index = x + z * _slabSize; + field[index] = field[index + _xRes]; + + // top slab + index += _slabSize - _xRes; + field[index] = field[index - _xRes]; + } + + for (int z = 0; z < _zRes; z++) + for (int y = 0; y < _yRes; y++) + { + // left slab + index = y * _xRes + z * _slabSize; + field[index] = field[index + 1]; + + // right slab + index += _xRes - 1; + field[index] = field[index - 1]; + } +} + +////////////////////////////////////////////////////////////////////// +// wipe boundaries of velocity and density +////////////////////////////////////////////////////////////////////// +void FLUID_3D::wipeBoundaries() +{ + setZeroBorder(_xVelocity, _res); + setZeroBorder(_yVelocity, _res); + setZeroBorder(_zVelocity, _res); + setZeroBorder(_density, _res); +} + +////////////////////////////////////////////////////////////////////// +// add forces to velocity field +////////////////////////////////////////////////////////////////////// +void FLUID_3D::addForce() +{ + for (int i = 0; i < _totalCells; i++) + { + _xVelocity[i] += _dt * _xForce[i]; + _yVelocity[i] += _dt * _yForce[i]; + _zVelocity[i] += _dt * _zForce[i]; + } +} + +////////////////////////////////////////////////////////////////////// +// project into divergence free field +////////////////////////////////////////////////////////////////////// +void FLUID_3D::project() +{ + int x, y, z; + size_t index; + + float *_pressure = new float[_totalCells]; + float *_divergence = new float[_totalCells]; + + memset(_pressure, 0, sizeof(float)*_totalCells); + memset(_divergence, 0, sizeof(float)*_totalCells); + + setObstacleBoundaries(_pressure); + + // copy out the boundaries + if(DOMAIN_BC_LEFT == 0) setNeumannX(_xVelocity, _res); + else setZeroX(_xVelocity, _res); + + if(DOMAIN_BC_TOP == 0) setNeumannY(_yVelocity, _res); + else setZeroY(_yVelocity, _res); + + if(DOMAIN_BC_FRONT == 0) setNeumannZ(_zVelocity, _res); + else setZeroZ(_zVelocity, _res); + + // calculate divergence + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + float xright = _xVelocity[index + 1]; + float xleft = _xVelocity[index - 1]; + float yup = _yVelocity[index + _xRes]; + float ydown = _yVelocity[index - _xRes]; + float ztop = _zVelocity[index + _slabSize]; + float zbottom = _zVelocity[index - _slabSize]; + + if(_obstacles[index+1]) xright = - _xVelocity[index]; + if(_obstacles[index-1]) xleft = - _xVelocity[index]; + if(_obstacles[index+_xRes]) yup = - _yVelocity[index]; + if(_obstacles[index-_xRes]) ydown = - _yVelocity[index]; + if(_obstacles[index+_slabSize]) ztop = - _zVelocity[index]; + if(_obstacles[index-_slabSize]) zbottom = - _zVelocity[index]; + + _divergence[index] = -_dx * 0.5f * ( + xright - xleft + + yup - ydown + + ztop - zbottom ); + + // DG: commenting this helps CG to get a better start, 10-20% speed improvement + // _pressure[index] = 0.0f; + } + copyBorderAll(_pressure); + + // solve Poisson equation + solvePressurePre(_pressure, _divergence, _obstacles); + + setObstaclePressure(_pressure); + + // project out solution + float invDx = 1.0f / _dx; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + // if(!_obstacles[index]) + { + _xVelocity[index] -= 0.5f * (_pressure[index + 1] - _pressure[index - 1]) * invDx; + _yVelocity[index] -= 0.5f * (_pressure[index + _xRes] - _pressure[index - _xRes]) * invDx; + _zVelocity[index] -= 0.5f * (_pressure[index + _slabSize] - _pressure[index - _slabSize]) * invDx; + }/* + else + { + _xVelocity[index] = _yVelocity[index] = _zVelocity[index] = 0.0f; + }*/ + } + + if (_pressure) delete[] _pressure; + if (_divergence) delete[] _divergence; +} + +////////////////////////////////////////////////////////////////////// +// diffuse heat +////////////////////////////////////////////////////////////////////// +void FLUID_3D::diffuseHeat() +{ + SWAP_POINTERS(_heat, _heatOld); + + copyBorderAll(_heatOld); + solveHeat(_heat, _heatOld, _obstacles); + + // zero out inside obstacles + for (int x = 0; x < _totalCells; x++) + if (_obstacles[x]) + _heat[x] = 0.0f; +} + +////////////////////////////////////////////////////////////////////// +// stamp an obstacle in the _obstacles field +////////////////////////////////////////////////////////////////////// +void FLUID_3D::addObstacle(OBSTACLE* obstacle) +{ + int index = 0; + for (int z = 0; z < _zRes; z++) + for (int y = 0; y < _yRes; y++) + for (int x = 0; x < _xRes; x++, index++) + if (obstacle->inside(x * _dx, y * _dx, z * _dx)) { + _obstacles[index] = true; + } +} + +////////////////////////////////////////////////////////////////////// +// calculate the obstacle directional types +////////////////////////////////////////////////////////////////////// +void FLUID_3D::setObstaclePressure(float *_pressure) +{ + // tag remaining obstacle blocks + for (int z = 1, index = _slabSize + _xRes + 1; + z < _zRes - 1; z++, index += 2 * _xRes) + for (int y = 1; y < _yRes - 1; y++, index += 2) + for (int x = 1; x < _xRes - 1; x++, index++) + { + // could do cascade of ifs, but they are a pain + if (_obstacles[index]) + { + const int top = _obstacles[index + _slabSize]; + const int bottom= _obstacles[index - _slabSize]; + const int up = _obstacles[index + _xRes]; + const int down = _obstacles[index - _xRes]; + const int left = _obstacles[index - 1]; + const int right = _obstacles[index + 1]; + + // unused + // const bool fullz = (top && bottom); + // const bool fully = (up && down); + //const bool fullx = (left && right); + + _xVelocity[index] = + _yVelocity[index] = + _zVelocity[index] = 0.0f; + _pressure[index] = 0.0f; + + // average pressure neighbors + float pcnt = 0.; + if (left && !right) { + _pressure[index] += _pressure[index + 1]; + pcnt += 1.; + } + if (!left && right) { + _pressure[index] += _pressure[index - 1]; + pcnt += 1.; + } + if (up && !down) { + _pressure[index] += _pressure[index - _xRes]; + pcnt += 1.; + } + if (!up && down) { + _pressure[index] += _pressure[index + _xRes]; + pcnt += 1.; + } + if (top && !bottom) { + _pressure[index] += _pressure[index - _slabSize]; + pcnt += 1.; + // _zVelocity[index] += - _zVelocity[index - _slabSize]; + // vp += 1.0; + } + if (!top && bottom) { + _pressure[index] += _pressure[index + _slabSize]; + pcnt += 1.; + // _zVelocity[index] += - _zVelocity[index + _slabSize]; + // vp += 1.0; + } + + if(pcnt > 0.000001f) + _pressure[index] /= pcnt; + + // test - dg + // if(vp > 0.000001f) + // _zVelocity[index] /= vp; + + // TODO? set correct velocity bc's + // velocities are only set to zero right now + // this means it's not a full no-slip boundary condition + // but a "half-slip" - still looks ok right now + } + } +} + +void FLUID_3D::setObstacleBoundaries(float *_pressure) +{ + // cull degenerate obstacles , move to addObstacle? + for (int z = 1, index = _slabSize + _xRes + 1; + z < _zRes - 1; z++, index += 2 * _xRes) + for (int y = 1; y < _yRes - 1; y++, index += 2) + for (int x = 1; x < _xRes - 1; x++, index++) + { + if (_obstacles[index] != EMPTY) + { + const int top = _obstacles[index + _slabSize]; + const int bottom= _obstacles[index - _slabSize]; + const int up = _obstacles[index + _xRes]; + const int down = _obstacles[index - _xRes]; + const int left = _obstacles[index - 1]; + const int right = _obstacles[index + 1]; + + int counter = 0; + if (up) counter++; + if (down) counter++; + if (left) counter++; + if (right) counter++; + if (top) counter++; + if (bottom) counter++; + + if (counter < 3) + _obstacles[index] = EMPTY; + } + if (_obstacles[index]) + { + _xVelocity[index] = + _yVelocity[index] = + _zVelocity[index] = 0.0f; + _pressure[index] = 0.0f; + } + } +} + +////////////////////////////////////////////////////////////////////// +// add buoyancy forces +////////////////////////////////////////////////////////////////////// +void FLUID_3D::addBuoyancy(float *heat, float *density) +{ + int index = 0; + + for (int z = 0; z < _zRes; z++) + for (int y = 0; y < _yRes; y++) + for (int x = 0; x < _xRes; x++, index++) + { + _zForce[index] += *_alpha * density[index] + (*_beta * (heat[index] - _tempAmb)); // DG: was _yForce, changed for Blender + } +} + +////////////////////////////////////////////////////////////////////// +// add vorticity to the force field +////////////////////////////////////////////////////////////////////// +void FLUID_3D::addVorticity() +{ + int x,y,z,index; + if(_vorticityEps<=0.) return; + + float *_xVorticity, *_yVorticity, *_zVorticity, *_vorticity; + + _xVorticity = new float[_totalCells]; + _yVorticity = new float[_totalCells]; + _zVorticity = new float[_totalCells]; + _vorticity = new float[_totalCells]; + + memset(_xVorticity, 0, sizeof(float)*_totalCells); + memset(_yVorticity, 0, sizeof(float)*_totalCells); + memset(_zVorticity, 0, sizeof(float)*_totalCells); + memset(_vorticity, 0, sizeof(float)*_totalCells); + + // calculate vorticity + float gridSize = 0.5f / _dx; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + int up = _obstacles[index + _xRes] ? index : index + _xRes; + int down = _obstacles[index - _xRes] ? index : index - _xRes; + float dy = (up == index || down == index) ? 1.0f / _dx : gridSize; + int out = _obstacles[index + _slabSize] ? index : index + _slabSize; + int in = _obstacles[index - _slabSize] ? index : index - _slabSize; + float dz = (out == index || in == index) ? 1.0f / _dx : gridSize; + int right = _obstacles[index + 1] ? index : index + 1; + int left = _obstacles[index - 1] ? index : index - 1; + float dx = (right == index || right == index) ? 1.0f / _dx : gridSize; + + _xVorticity[index] = (_zVelocity[up] - _zVelocity[down]) * dy + (-_yVelocity[out] + _yVelocity[in]) * dz; + _yVorticity[index] = (_xVelocity[out] - _xVelocity[in]) * dz + (-_zVelocity[right] + _zVelocity[left]) * dx; + _zVorticity[index] = (_yVelocity[right] - _yVelocity[left]) * dx + (-_xVelocity[up] + _xVelocity[down])* dy; + + _vorticity[index] = sqrtf(_xVorticity[index] * _xVorticity[index] + + _yVorticity[index] * _yVorticity[index] + + _zVorticity[index] * _zVorticity[index]); + } + + // calculate normalized vorticity vectors + float eps = _vorticityEps; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + if (!_obstacles[index]) + { + float N[3]; + + int up = _obstacles[index + _xRes] ? index : index + _xRes; + int down = _obstacles[index - _xRes] ? index : index - _xRes; + float dy = (up == index || down == index) ? 1.0f / _dx : gridSize; + int out = _obstacles[index + _slabSize] ? index : index + _slabSize; + int in = _obstacles[index - _slabSize] ? index : index - _slabSize; + float dz = (out == index || in == index) ? 1.0f / _dx : gridSize; + int right = _obstacles[index + 1] ? index : index + 1; + int left = _obstacles[index - 1] ? index : index - 1; + float dx = (right == index || right == index) ? 1.0f / _dx : gridSize; + N[0] = (_vorticity[right] - _vorticity[left]) * dx; + N[1] = (_vorticity[up] - _vorticity[down]) * dy; + N[2] = (_vorticity[out] - _vorticity[in]) * dz; + + float magnitude = sqrtf(N[0] * N[0] + N[1] * N[1] + N[2] * N[2]); + if (magnitude > 0.0f) + { + magnitude = 1.0f / magnitude; + N[0] *= magnitude; + N[1] *= magnitude; + N[2] *= magnitude; + + _xForce[index] += (N[1] * _zVorticity[index] - N[2] * _yVorticity[index]) * _dx * eps; + _yForce[index] -= (N[0] * _zVorticity[index] - N[2] * _xVorticity[index]) * _dx * eps; + _zForce[index] += (N[0] * _yVorticity[index] - N[1] * _xVorticity[index]) * _dx * eps; + } + } + + if (_xVorticity) delete[] _xVorticity; + if (_yVorticity) delete[] _yVorticity; + if (_zVorticity) delete[] _zVorticity; + if (_vorticity) delete[] _vorticity; +} + +////////////////////////////////////////////////////////////////////// +// Advect using the MacCormack method from the Selle paper +////////////////////////////////////////////////////////////////////// +void FLUID_3D::advectMacCormack() +{ + Vec3Int res = Vec3Int(_xRes,_yRes,_zRes); + + if(DOMAIN_BC_LEFT == 0) copyBorderX(_xVelocity, res); + else setZeroX(_xVelocity, res); + + if(DOMAIN_BC_TOP == 0) copyBorderY(_yVelocity, res); + else setZeroY(_yVelocity, res); + + if(DOMAIN_BC_FRONT == 0) copyBorderZ(_zVelocity, res); + else setZeroZ(_zVelocity, res); + + SWAP_POINTERS(_xVelocity, _xVelocityOld); + SWAP_POINTERS(_yVelocity, _yVelocityOld); + SWAP_POINTERS(_zVelocity, _zVelocityOld); + SWAP_POINTERS(_density, _densityOld); + SWAP_POINTERS(_heat, _heatOld); + + const float dt0 = _dt / _dx; + // use force arrays as temp arrays + for (int x = 0; x < _totalCells; x++) + _xForce[x] = _yForce[x] = 0.0; + + float* t1 = _xForce; + float* t2 = _yForce; + + advectFieldMacCormack(dt0, _xVelocityOld, _yVelocityOld, _zVelocityOld, _densityOld, _density, t1,t2, res, _obstacles); + advectFieldMacCormack(dt0, _xVelocityOld, _yVelocityOld, _zVelocityOld, _heatOld, _heat, t1,t2, res, _obstacles); + advectFieldMacCormack(dt0, _xVelocityOld, _yVelocityOld, _zVelocityOld, _xVelocityOld, _xVelocity, t1,t2, res, _obstacles); + advectFieldMacCormack(dt0, _xVelocityOld, _yVelocityOld, _zVelocityOld, _yVelocityOld, _yVelocity, t1,t2, res, _obstacles); + advectFieldMacCormack(dt0, _xVelocityOld, _yVelocityOld, _zVelocityOld, _zVelocityOld, _zVelocity, t1,t2, res, _obstacles); + + if(DOMAIN_BC_LEFT == 0) copyBorderX(_xVelocity, res); + else setZeroX(_xVelocity, res); + + if(DOMAIN_BC_TOP == 0) copyBorderY(_yVelocity, res); + else setZeroY(_yVelocity, res); + + if(DOMAIN_BC_FRONT == 0) copyBorderZ(_zVelocity, res); + else setZeroZ(_zVelocity, res); + + setZeroBorder(_density, res); + setZeroBorder(_heat, res); + + for (int x = 0; x < _totalCells; x++) + t1[x] = t2[x] = 0.0; +} diff --git a/intern/smoke/intern/FLUID_3D.h b/intern/smoke/intern/FLUID_3D.h new file mode 100644 index 00000000000..a7be7f58335 --- /dev/null +++ b/intern/smoke/intern/FLUID_3D.h @@ -0,0 +1,168 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +// FLUID_3D.h: interface for the FLUID_3D class. +// +////////////////////////////////////////////////////////////////////// + +#ifndef FLUID_3D_H +#define FLUID_3D_H + +#include <cstdlib> +#include <cmath> +#include <iostream> +#include "OBSTACLE.h" +// #include "WTURBULENCE.h" +#include "VEC3.h" + +using namespace std; +using namespace BasicVector; +class WTURBULENCE; + +class FLUID_3D +{ + public: + FLUID_3D(int *res, /* int amplify, */ float *p0, float dt); + FLUID_3D() {}; + virtual ~FLUID_3D(); + + void initBlenderRNA(float *alpha, float *beta); + + // create & allocate vector noise advection + void initVectorNoise(int amplify); + + void addSmokeColumn(); + static void addSmokeTestCase(float* field, Vec3Int res); + + void step(); + void addObstacle(OBSTACLE* obstacle); + + const float* xVelocity() { return _xVelocity; }; + const float* yVelocity() { return _yVelocity; }; + const float* zVelocity() { return _zVelocity; }; + + int xRes() const { return _xRes; }; + int yRes() const { return _yRes; }; + int zRes() const { return _zRes; }; + + public: + // dimensions + int _xRes, _yRes, _zRes, _maxRes; + Vec3Int _res; + size_t _totalCells; + int _slabSize; + float _dx; + float _p0[3]; + float _p1[3]; + float _totalTime; + int _totalSteps; + int _totalImgDumps; + int _totalVelDumps; + + void artificialDamping(float* field); + + // fields + float* _density; + float* _densityOld; + float* _heat; + float* _heatOld; + float* _xVelocity; + float* _yVelocity; + float* _zVelocity; + float* _xVelocityOld; + float* _yVelocityOld; + float* _zVelocityOld; + float* _xForce; + float* _yForce; + float* _zForce; + unsigned char* _obstacles; + + // CG fields + int _iterations; + + // simulation constants + float _dt; + float _vorticityEps; + float _heatDiffusion; + float *_alpha; // for the buoyancy density term <-- as pointer to get blender RNA in here + float *_beta; // was _buoyancy <-- as pointer to get blender RNA in here + float _tempAmb; /* ambient temperature */ + + // WTURBULENCE object, if active + // WTURBULENCE* _wTurbulence; + + // boundary setting functions + void copyBorderAll(float* field); + + // timestepping functions + void wipeBoundaries(); + void addForce(); + void addVorticity(); + void addBuoyancy(float *heat, float *density); + + // solver stuff + void project(); + void diffuseHeat(); + void solvePressure(float* field, float* b, unsigned char* skip); + void solvePressurePre(float* field, float* b, unsigned char* skip); + void solveHeat(float* field, float* b, unsigned char* skip); + + // handle obstacle boundaries + void setObstacleBoundaries(float *_pressure); + void setObstaclePressure(float *_pressure); + + public: + // advection, accessed e.g. by WTURBULENCE class + void advectMacCormack(); + + // boundary setting functions + static void copyBorderX(float* field, Vec3Int res); + static void copyBorderY(float* field, Vec3Int res); + static void copyBorderZ(float* field, Vec3Int res); + static void setNeumannX(float* field, Vec3Int res); + static void setNeumannY(float* field, Vec3Int res); + static void setNeumannZ(float* field, Vec3Int res); + static void setZeroX(float* field, Vec3Int res); + static void setZeroY(float* field, Vec3Int res); + static void setZeroZ(float* field, Vec3Int res); + static void setZeroBorder(float* field, Vec3Int res) { + setZeroX(field, res); + setZeroY(field, res); + setZeroZ(field, res); + }; + + // static advection functions, also used by WTURBULENCE + static void advectFieldSemiLagrange(const float dt, const float* velx, const float* vely, const float* velz, + float* oldField, float* newField, Vec3Int res); + static void advectFieldMacCormack(const float dt, const float* xVelocity, const float* yVelocity, const float* zVelocity, + float* oldField, float* newField, float* temp1, float* temp2, Vec3Int res, const unsigned char* obstacles); + + // maccormack helper functions + static void clampExtrema(const float dt, const float* xVelocity, const float* yVelocity, const float* zVelocity, + float* oldField, float* newField, Vec3Int res); + static void clampOutsideRays(const float dt, const float* xVelocity, const float* yVelocity, const float* zVelocity, + float* oldField, float* newField, Vec3Int res, const unsigned char* obstacles, const float *oldAdvection); + + // output helper functions + // static void writeImageSliceXY(const float *field, Vec3Int res, int slice, string prefix, int picCnt, float scale=1.); + // static void writeImageSliceYZ(const float *field, Vec3Int res, int slice, string prefix, int picCnt, float scale=1.); + // static void writeImageSliceXZ(const float *field, Vec3Int res, int slice, string prefix, int picCnt, float scale=1.); + // static void writeProjectedIntern(const float *field, Vec3Int res, int dir1, int dir2, string prefix, int picCnt, float scale=1.); +}; + +#endif diff --git a/intern/smoke/intern/FLUID_3D_SOLVERS.cpp b/intern/smoke/intern/FLUID_3D_SOLVERS.cpp new file mode 100644 index 00000000000..7d078d86d61 --- /dev/null +++ b/intern/smoke/intern/FLUID_3D_SOLVERS.cpp @@ -0,0 +1,524 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +// FLUID_3D.cpp: implementation of the FLUID_3D class. +// +////////////////////////////////////////////////////////////////////// + +#include "FLUID_3D.h" +#include <cstring> +#define SOLVER_ACCURACY 1e-06 + +void FLUID_3D::solvePressurePre(float* field, float* b, unsigned char* skip) +{ + int x, y, z; + size_t index; + float *_q, *_Precond, *_h, *_residual, *_direction; + + // i = 0 + int i = 0; + + _residual = new float[_totalCells]; // set 0 + _direction = new float[_totalCells]; // set 0 + _q = new float[_totalCells]; // set 0 + _h = new float[_totalCells]; // set 0 + _Precond = new float[_totalCells]; // set 0 + + memset(_residual, 0, sizeof(float)*_xRes*_yRes*_zRes); + memset(_q, 0, sizeof(float)*_xRes*_yRes*_zRes); + memset(_direction, 0, sizeof(float)*_xRes*_yRes*_zRes); + memset(_h, 0, sizeof(float)*_xRes*_yRes*_zRes); + memset(_Precond, 0, sizeof(float)*_xRes*_yRes*_zRes); + + // r = b - Ax + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + // if the cell is a variable + float Acenter = 0.0f; + if (!skip[index]) + { + // set the matrix to the Poisson stencil in order + if (!skip[index + 1]) Acenter += 1.; + if (!skip[index - 1]) Acenter += 1.; + if (!skip[index + _xRes]) Acenter += 1.; + if (!skip[index - _xRes]) Acenter += 1.; + if (!skip[index + _slabSize]) Acenter += 1.; + if (!skip[index - _slabSize]) Acenter += 1.; + } + + _residual[index] = b[index] - (Acenter * field[index] + + field[index - 1] * (skip[index - 1] ? 0.0 : -1.0f)+ + field[index + 1] * (skip[index + 1] ? 0.0 : -1.0f)+ + field[index - _xRes] * (skip[index - _xRes] ? 0.0 : -1.0f)+ + field[index + _xRes] * (skip[index + _xRes] ? 0.0 : -1.0f)+ + field[index - _slabSize] * (skip[index - _slabSize] ? 0.0 : -1.0f)+ + field[index + _slabSize] * (skip[index + _slabSize] ? 0.0 : -1.0f) ); + _residual[index] = (skip[index]) ? 0.0f : _residual[index]; + + // P^-1 + if(Acenter < 1.0) + _Precond[index] = 0.0; + else + _Precond[index] = 1.0 / Acenter; + + // p = P^-1 * r + _direction[index] = _residual[index] * _Precond[index]; + } + + // deltaNew = transpose(r) * p + float deltaNew = 0.0f; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + deltaNew += _residual[index] * _direction[index]; + + // delta0 = deltaNew + // float delta0 = deltaNew; + + // While deltaNew > (eps^2) * delta0 + const float eps = SOLVER_ACCURACY; + //while ((i < _iterations) && (deltaNew > eps*delta0)) + float maxR = 2.0f * eps; + // while (i < _iterations) + while ((i < _iterations) && (maxR > 0.001*eps)) + { + // (s) q = Ad (p) + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + // if the cell is a variable + float Acenter = 0.0f; + if (!skip[index]) + { + // set the matrix to the Poisson stencil in order + if (!skip[index + 1]) Acenter += 1.; + if (!skip[index - 1]) Acenter += 1.; + if (!skip[index + _xRes]) Acenter += 1.; + if (!skip[index - _xRes]) Acenter += 1.; + if (!skip[index + _slabSize]) Acenter += 1.; + if (!skip[index - _slabSize]) Acenter += 1.; + } + + _q[index] = Acenter * _direction[index] + + _direction[index - 1] * (skip[index - 1] ? 0.0 : -1.0f) + + _direction[index + 1] * (skip[index + 1] ? 0.0 : -1.0f) + + _direction[index - _xRes] * (skip[index - _xRes] ? 0.0 : -1.0f) + + _direction[index + _xRes] * (skip[index + _xRes] ? 0.0 : -1.0f)+ + _direction[index - _slabSize] * (skip[index - _slabSize] ? 0.0 : -1.0f) + + _direction[index + _slabSize] * (skip[index + _slabSize] ? 0.0 : -1.0f); + _q[index] = (skip[index]) ? 0.0f : _q[index]; + } + + // alpha = deltaNew / (transpose(d) * q) + float alpha = 0.0f; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + alpha += _direction[index] * _q[index]; + if (fabs(alpha) > 0.0f) + alpha = deltaNew / alpha; + + // x = x + alpha * d + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + field[index] += alpha * _direction[index]; + + // r = r - alpha * q + maxR = 0.0; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + _residual[index] -= alpha * _q[index]; + // maxR = (_residual[index] > maxR) ? _residual[index] : maxR; + } + + // if(maxR <= eps) + // break; + + // h = P^-1 * r + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + _h[index] = _Precond[index] * _residual[index]; + } + + // deltaOld = deltaNew + float deltaOld = deltaNew; + + // deltaNew = transpose(r) * h + deltaNew = 0.0f; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + deltaNew += _residual[index] * _h[index]; + maxR = (_residual[index]* _h[index] > maxR) ? _residual[index]* _h[index] : maxR; + } + + // beta = deltaNew / deltaOld + float beta = deltaNew / deltaOld; + + // d = h + beta * d + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + _direction[index] = _h[index] + beta * _direction[index]; + + // i = i + 1 + i++; + } + // cout << i << " iterations converged to " << sqrt(maxR) << endl; + + if (_h) delete[] _h; + if (_Precond) delete[] _Precond; + if (_residual) delete[] _residual; + if (_direction) delete[] _direction; + if (_q) delete[] _q; +} + +////////////////////////////////////////////////////////////////////// +// solve the poisson equation with CG +////////////////////////////////////////////////////////////////////// +#if 0 +void FLUID_3D::solvePressure(float* field, float* b, unsigned char* skip) +{ + int x, y, z; + size_t index; + + // i = 0 + int i = 0; + + memset(_residual, 0, sizeof(float)*_xRes*_yRes*_zRes); + memset(_q, 0, sizeof(float)*_xRes*_yRes*_zRes); + memset(_direction, 0, sizeof(float)*_xRes*_yRes*_zRes); + + // r = b - Ax + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + // if the cell is a variable + float Acenter = 0.0f; + if (!skip[index]) + { + // set the matrix to the Poisson stencil in order + if (!skip[index + 1]) Acenter += 1.; + if (!skip[index - 1]) Acenter += 1.; + if (!skip[index + _xRes]) Acenter += 1.; + if (!skip[index - _xRes]) Acenter += 1.; + if (!skip[index + _slabSize]) Acenter += 1.; + if (!skip[index - _slabSize]) Acenter += 1.; + } + + _residual[index] = b[index] - (Acenter * field[index] + + field[index - 1] * (skip[index - 1] ? 0.0 : -1.0f)+ + field[index + 1] * (skip[index + 1] ? 0.0 : -1.0f)+ + field[index - _xRes] * (skip[index - _xRes] ? 0.0 : -1.0f)+ + field[index + _xRes] * (skip[index + _xRes] ? 0.0 : -1.0f)+ + field[index - _slabSize] * (skip[index - _slabSize] ? 0.0 : -1.0f)+ + field[index + _slabSize] * (skip[index + _slabSize] ? 0.0 : -1.0f) ); + _residual[index] = (skip[index]) ? 0.0f : _residual[index]; + } + + + // d = r + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + _direction[index] = _residual[index]; + + // deltaNew = transpose(r) * r + float deltaNew = 0.0f; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + deltaNew += _residual[index] * _residual[index]; + + // delta0 = deltaNew + // float delta0 = deltaNew; + + // While deltaNew > (eps^2) * delta0 + const float eps = SOLVER_ACCURACY; + float maxR = 2.0f * eps; + while ((i < _iterations) && (maxR > eps)) + { + // q = Ad + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + // if the cell is a variable + float Acenter = 0.0f; + if (!skip[index]) + { + // set the matrix to the Poisson stencil in order + if (!skip[index + 1]) Acenter += 1.; + if (!skip[index - 1]) Acenter += 1.; + if (!skip[index + _xRes]) Acenter += 1.; + if (!skip[index - _xRes]) Acenter += 1.; + if (!skip[index + _slabSize]) Acenter += 1.; + if (!skip[index - _slabSize]) Acenter += 1.; + } + + _q[index] = Acenter * _direction[index] + + _direction[index - 1] * (skip[index - 1] ? 0.0 : -1.0f) + + _direction[index + 1] * (skip[index + 1] ? 0.0 : -1.0f) + + _direction[index - _xRes] * (skip[index - _xRes] ? 0.0 : -1.0f) + + _direction[index + _xRes] * (skip[index + _xRes] ? 0.0 : -1.0f)+ + _direction[index - _slabSize] * (skip[index - _slabSize] ? 0.0 : -1.0f) + + _direction[index + _slabSize] * (skip[index + _slabSize] ? 0.0 : -1.0f); + _q[index] = (skip[index]) ? 0.0f : _q[index]; + } + + // alpha = deltaNew / (transpose(d) * q) + float alpha = 0.0f; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + alpha += _direction[index] * _q[index]; + if (fabs(alpha) > 0.0f) + alpha = deltaNew / alpha; + + // x = x + alpha * d + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + field[index] += alpha * _direction[index]; + + // r = r - alpha * q + maxR = 0.0f; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + _residual[index] -= alpha * _q[index]; + maxR = (_residual[index] > maxR) ? _residual[index] : maxR; + } + + // deltaOld = deltaNew + float deltaOld = deltaNew; + + // deltaNew = transpose(r) * r + deltaNew = 0.0f; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + deltaNew += _residual[index] * _residual[index]; + + // beta = deltaNew / deltaOld + float beta = deltaNew / deltaOld; + + // d = r + beta * d + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + _direction[index] = _residual[index] + beta * _direction[index]; + + // i = i + 1 + i++; + } + // cout << i << " iterations converged to " << maxR << endl; +} +#endif + +////////////////////////////////////////////////////////////////////// +// solve the heat equation with CG +////////////////////////////////////////////////////////////////////// +void FLUID_3D::solveHeat(float* field, float* b, unsigned char* skip) +{ + int x, y, z; + size_t index; + const float heatConst = _dt * _heatDiffusion / (_dx * _dx); + float *_q, *_residual, *_direction; + + // i = 0 + int i = 0; + + _residual = new float[_totalCells]; // set 0 + _direction = new float[_totalCells]; // set 0 + _q = new float[_totalCells]; // set 0 + + memset(_residual, 0, sizeof(float)*_xRes*_yRes*_zRes); + memset(_q, 0, sizeof(float)*_xRes*_yRes*_zRes); + memset(_direction, 0, sizeof(float)*_xRes*_yRes*_zRes); + + // r = b - Ax + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + // if the cell is a variable + float Acenter = 1.0f; + if (!skip[index]) + { + // set the matrix to the Poisson stencil in order + if (!skip[index + 1]) Acenter += heatConst; + if (!skip[index - 1]) Acenter += heatConst; + if (!skip[index + _xRes]) Acenter += heatConst; + if (!skip[index - _xRes]) Acenter += heatConst; + if (!skip[index + _slabSize]) Acenter += heatConst; + if (!skip[index - _slabSize]) Acenter += heatConst; + } + + _residual[index] = b[index] - (Acenter * field[index] + + field[index - 1] * (skip[index - 1] ? 0.0 : -heatConst) + + field[index + 1] * (skip[index + 1] ? 0.0 : -heatConst) + + field[index - _xRes] * (skip[index - _xRes] ? 0.0 : -heatConst) + + field[index + _xRes] * (skip[index + _xRes] ? 0.0 : -heatConst) + + field[index - _slabSize] * (skip[index - _slabSize] ? 0.0 : -heatConst) + + field[index + _slabSize] * (skip[index + _slabSize] ? 0.0 : -heatConst)); + _residual[index] = (skip[index]) ? 0.0f : _residual[index]; + } + + // d = r + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + _direction[index] = _residual[index]; + + // deltaNew = transpose(r) * r + float deltaNew = 0.0f; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + deltaNew += _residual[index] * _residual[index]; + + // delta0 = deltaNew + // float delta0 = deltaNew; + + // While deltaNew > (eps^2) * delta0 + const float eps = SOLVER_ACCURACY; + float maxR = 2.0f * eps; + while ((i < _iterations) && (maxR > eps)) + { + // q = Ad + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + // if the cell is a variable + float Acenter = 1.0f; + if (!skip[index]) + { + // set the matrix to the Poisson stencil in order + if (!skip[index + 1]) Acenter += heatConst; + if (!skip[index - 1]) Acenter += heatConst; + if (!skip[index + _xRes]) Acenter += heatConst; + if (!skip[index - _xRes]) Acenter += heatConst; + if (!skip[index + _slabSize]) Acenter += heatConst; + if (!skip[index - _slabSize]) Acenter += heatConst; + } + + _q[index] = (Acenter * _direction[index] + + _direction[index - 1] * (skip[index - 1] ? 0.0 : -heatConst) + + _direction[index + 1] * (skip[index + 1] ? 0.0 : -heatConst) + + _direction[index - _xRes] * (skip[index - _xRes] ? 0.0 : -heatConst) + + _direction[index + _xRes] * (skip[index + _xRes] ? 0.0 : -heatConst) + + _direction[index - _slabSize] * (skip[index - _slabSize] ? 0.0 : -heatConst) + + _direction[index + _slabSize] * (skip[index + _slabSize] ? 0.0 : -heatConst)); + + _q[index] = (skip[index]) ? 0.0f : _q[index]; + } + + // alpha = deltaNew / (transpose(d) * q) + float alpha = 0.0f; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + alpha += _direction[index] * _q[index]; + if (fabs(alpha) > 0.0f) + alpha = deltaNew / alpha; + + // x = x + alpha * d + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + field[index] += alpha * _direction[index]; + + // r = r - alpha * q + maxR = 0.0f; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + { + _residual[index] -= alpha * _q[index]; + maxR = (_residual[index] > maxR) ? _residual[index] : maxR; + } + + // deltaOld = deltaNew + float deltaOld = deltaNew; + + // deltaNew = transpose(r) * r + deltaNew = 0.0f; + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + deltaNew += _residual[index] * _residual[index]; + + // beta = deltaNew / deltaOld + float beta = deltaNew / deltaOld; + + // d = r + beta * d + index = _slabSize + _xRes + 1; + for (z = 1; z < _zRes - 1; z++, index += 2 * _xRes) + for (y = 1; y < _yRes - 1; y++, index += 2) + for (x = 1; x < _xRes - 1; x++, index++) + _direction[index] = _residual[index] + beta * _direction[index]; + + // i = i + 1 + i++; + } + // cout << i << " iterations converged to " << maxR << endl; + + if (_residual) delete[] _residual; + if (_direction) delete[] _direction; + if (_q) delete[] _q; +} + diff --git a/intern/smoke/intern/FLUID_3D_STATIC.cpp b/intern/smoke/intern/FLUID_3D_STATIC.cpp new file mode 100644 index 00000000000..0215dfc417f --- /dev/null +++ b/intern/smoke/intern/FLUID_3D_STATIC.cpp @@ -0,0 +1,610 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +// FLUID_3D.cpp: implementation of the static functions of the FLUID_3D class. +// +////////////////////////////////////////////////////////////////////// + +#include <zlib.h> +#include "FLUID_3D.h" +#include "IMAGE.h" +#include "WTURBULENCE.h" +#include "INTERPOLATE.h" + +////////////////////////////////////////////////////////////////////// +// add a test cube of density to the center +////////////////////////////////////////////////////////////////////// +/* +void FLUID_3D::addSmokeColumn() { + addSmokeTestCase(_density, _res, 1.0); + // addSmokeTestCase(_zVelocity, _res, 1.0); + addSmokeTestCase(_heat, _res, 1.0); + if (_wTurbulence) { + addSmokeTestCase(_wTurbulence->getDensityBig(), _wTurbulence->getResBig(), 1.0); + } +} +*/ + +////////////////////////////////////////////////////////////////////// +// generic static version, so that it can be applied to the +// WTURBULENCE grid as well +////////////////////////////////////////////////////////////////////// + +void FLUID_3D::addSmokeTestCase(float* field, Vec3Int res) +{ + const int slabSize = res[0]*res[1]; int maxRes = (int)MAX3V(res); + float dx = 1.0f / (float)maxRes; + + float xTotal = dx * res[0]; + float yTotal = dx * res[1]; + float zTotal = dx * res[2]; + + float heighMin = 0.05; + float heighMax = 0.10; + + for (int y = 0; y < res[2]; y++) + for (int z = (int)(heighMin*res[2]); z <= (int)(heighMax * res[2]); z++) + for (int x = 0; x < res[0]; x++) { + float xLength = x * dx - xTotal * 0.4f; + float yLength = y * dx - yTotal * 0.5f; + float radius = sqrtf(xLength * xLength + yLength * yLength); + + if (radius < 0.075f * xTotal) { + int index = x + y * res[0] + z * slabSize; + field[index] = 1.0f; + } + } +} + + +////////////////////////////////////////////////////////////////////// +// set x direction to Neumann boundary conditions +////////////////////////////////////////////////////////////////////// +void FLUID_3D::setNeumannX(float* field, Vec3Int res) +{ + const int slabSize = res[0] * res[1]; + int index; + for (int z = 0; z < res[2]; z++) + for (int y = 0; y < res[1]; y++) + { + // left slab + index = y * res[0] + z * slabSize; + field[index] = field[index + 2]; + + // right slab + index += res[0] - 1; + field[index] = field[index - 2]; + } + + // fix, force top slab to only allow outwards flux + for (int y = 0; y < res[1]; y++) + for (int z = 0; z < res[2]; z++) + { + // top slab + index = y * res[0] + z * slabSize; + index += res[0] - 1; + if(field[index]<0.) field[index] = 0.; + index -= 1; + if(field[index]<0.) field[index] = 0.; + } + } + +////////////////////////////////////////////////////////////////////// +// set y direction to Neumann boundary conditions +////////////////////////////////////////////////////////////////////// +void FLUID_3D::setNeumannY(float* field, Vec3Int res) +{ + const int slabSize = res[0] * res[1]; + int index; + for (int z = 0; z < res[2]; z++) + for (int x = 0; x < res[0]; x++) + { + // bottom slab + index = x + z * slabSize; + field[index] = field[index + 2 * res[0]]; + + // top slab + index += slabSize - res[0]; + field[index] = field[index - 2 * res[0]]; + } + + // fix, force top slab to only allow outwards flux + for (int z = 0; z < res[2]; z++) + for (int x = 0; x < res[0]; x++) + { + // top slab + index = x + z * slabSize; + index += slabSize - res[0]; + if(field[index]<0.) field[index] = 0.; + index -= res[0]; + if(field[index]<0.) field[index] = 0.; + } + +} + +////////////////////////////////////////////////////////////////////// +// set z direction to Neumann boundary conditions +////////////////////////////////////////////////////////////////////// +void FLUID_3D::setNeumannZ(float* field, Vec3Int res) +{ + const int slabSize = res[0] * res[1]; + const int totalCells = res[0] * res[1] * res[2]; + int index; + for (int y = 0; y < res[1]; y++) + for (int x = 0; x < res[0]; x++) + { + // front slab + index = x + y * res[0]; + field[index] = field[index + 2 * slabSize]; + + // back slab + index += totalCells - slabSize; + field[index] = field[index - 2 * slabSize]; + } + + // fix, force top slab to only allow outwards flux + for (int y = 0; y < res[1]; y++) + for (int x = 0; x < res[0]; x++) + { + // top slab + index = x + y * res[0]; + index += totalCells - slabSize; + if(field[index]<0.) field[index] = 0.; + index -= slabSize; + if(field[index]<0.) field[index] = 0.; + } + +} + +////////////////////////////////////////////////////////////////////// +// set x direction to zero +////////////////////////////////////////////////////////////////////// +void FLUID_3D::setZeroX(float* field, Vec3Int res) +{ + const int slabSize = res[0] * res[1]; + int index; + for (int z = 0; z < res[2]; z++) + for (int y = 0; y < res[1]; y++) + { + // left slab + index = y * res[0] + z * slabSize; + field[index] = 0.0f; + + // right slab + index += res[0] - 1; + field[index] = 0.0f; + } +} + +////////////////////////////////////////////////////////////////////// +// set y direction to zero +////////////////////////////////////////////////////////////////////// +void FLUID_3D::setZeroY(float* field, Vec3Int res) +{ + const int slabSize = res[0] * res[1]; + int index; + for (int z = 0; z < res[2]; z++) + for (int x = 0; x < res[0]; x++) + { + // bottom slab + index = x + z * slabSize; + field[index] = 0.0f; + + // top slab + index += slabSize - res[0]; + field[index] = 0.0f; + } +} + +////////////////////////////////////////////////////////////////////// +// set z direction to zero +////////////////////////////////////////////////////////////////////// +void FLUID_3D::setZeroZ(float* field, Vec3Int res) +{ + const int slabSize = res[0] * res[1]; + const int totalCells = res[0] * res[1] * res[2]; + int index; + for (int y = 0; y < res[1]; y++) + for (int x = 0; x < res[0]; x++) + { + // front slab + index = x + y * res[0]; + field[index] = 0.0f; + + // back slab + index += totalCells - slabSize; + field[index] = 0.0f; + } + } + +////////////////////////////////////////////////////////////////////// +// copy grid boundary +////////////////////////////////////////////////////////////////////// +void FLUID_3D::copyBorderX(float* field, Vec3Int res) +{ + const int slabSize = res[0] * res[1]; + int index; + for (int z = 0; z < res[2]; z++) + for (int y = 0; y < res[1]; y++) + { + // left slab + index = y * res[0] + z * slabSize; + field[index] = field[index + 1]; + + // right slab + index += res[0] - 1; + field[index] = field[index - 1]; + } +} +void FLUID_3D::copyBorderY(float* field, Vec3Int res) +{ + const int slabSize = res[0] * res[1]; + const int totalCells = res[0] * res[1] * res[2]; + int index; + for (int z = 0; z < res[2]; z++) + for (int x = 0; x < res[0]; x++) + { + // bottom slab + index = x + z * slabSize; + field[index] = field[index + res[0]]; + // top slab + index += slabSize - res[0]; + field[index] = field[index - res[0]]; + } +} +void FLUID_3D::copyBorderZ(float* field, Vec3Int res) +{ + const int slabSize = res[0] * res[1]; + const int totalCells = res[0] * res[1] * res[2]; + int index; + for (int y = 0; y < res[1]; y++) + for (int x = 0; x < res[0]; x++) + { + // front slab + index = x + y * res[0]; + field[index] = field[index + slabSize]; + // back slab + index += totalCells - slabSize; + field[index] = field[index - slabSize]; + } +} + +///////////////////////////////////////////////////////////////////// +// advect field with the semi lagrangian method +////////////////////////////////////////////////////////////////////// +void FLUID_3D::advectFieldSemiLagrange(const float dt, const float* velx, const float* vely, const float* velz, + float* oldField, float* newField, Vec3Int res) +{ + const int xres = res[0]; + const int yres = res[1]; + const int zres = res[2]; + const int slabSize = res[0] * res[1]; + + // scale dt up to grid resolution +#if PARALLEL==1 +#pragma omp parallel +#pragma omp for schedule(static) +#endif + for (int z = 0; z < zres; z++) + for (int y = 0; y < yres; y++) + for (int x = 0; x < xres; x++) + { + const int index = x + y * xres + z * xres*yres; + + // backtrace + float xTrace = x - dt * velx[index]; + float yTrace = y - dt * vely[index]; + float zTrace = z - dt * velz[index]; + + // clamp backtrace to grid boundaries + if (xTrace < 0.5) xTrace = 0.5; + if (xTrace > xres - 1.5) xTrace = xres - 1.5; + if (yTrace < 0.5) yTrace = 0.5; + if (yTrace > yres - 1.5) yTrace = yres - 1.5; + if (zTrace < 0.5) zTrace = 0.5; + if (zTrace > zres - 1.5) zTrace = zres - 1.5; + + // locate neighbors to interpolate + const int x0 = (int)xTrace; + const int x1 = x0 + 1; + const int y0 = (int)yTrace; + const int y1 = y0 + 1; + const int z0 = (int)zTrace; + const int z1 = z0 + 1; + + // get interpolation weights + const float s1 = xTrace - x0; + const float s0 = 1.0f - s1; + const float t1 = yTrace - y0; + const float t0 = 1.0f - t1; + const float u1 = zTrace - z0; + const float u0 = 1.0f - u1; + + const int i000 = x0 + y0 * xres + z0 * slabSize; + const int i010 = x0 + y1 * xres + z0 * slabSize; + const int i100 = x1 + y0 * xres + z0 * slabSize; + const int i110 = x1 + y1 * xres + z0 * slabSize; + const int i001 = x0 + y0 * xres + z1 * slabSize; + const int i011 = x0 + y1 * xres + z1 * slabSize; + const int i101 = x1 + y0 * xres + z1 * slabSize; + const int i111 = x1 + y1 * xres + z1 * slabSize; + + // interpolate + // (indices could be computed once) + newField[index] = u0 * (s0 * (t0 * oldField[i000] + + t1 * oldField[i010]) + + s1 * (t0 * oldField[i100] + + t1 * oldField[i110])) + + u1 * (s0 * (t0 * oldField[i001] + + t1 * oldField[i011]) + + s1 * (t0 * oldField[i101] + + t1 * oldField[i111])); + } +} + +///////////////////////////////////////////////////////////////////// +// advect field with the maccormack method +// +// comments are the pseudocode from selle's paper +////////////////////////////////////////////////////////////////////// +void FLUID_3D::advectFieldMacCormack(const float dt, const float* xVelocity, const float* yVelocity, const float* zVelocity, + float* oldField, float* newField, float* temp1, float* temp2, Vec3Int res, const unsigned char* obstacles) +{ + float* phiHatN = temp1; + float* phiHatN1 = temp2; + const int sx= res[0]; + const int sy= res[1]; + const int sz= res[2]; + + for (int x = 0; x < sx * sy * sz; x++) + phiHatN[x] = phiHatN1[x] = oldField[x]; + + float*& phiN = oldField; + float*& phiN1 = newField; + + // phiHatN1 = A(phiN) + advectFieldSemiLagrange( dt, xVelocity, yVelocity, zVelocity, phiN, phiHatN1, res); + + // phiHatN = A^R(phiHatN1) + advectFieldSemiLagrange( -1.0*dt, xVelocity, yVelocity, zVelocity, phiHatN1, phiHatN, res); + + // phiN1 = phiHatN1 + (phiN - phiHatN) / 2 + const int border = 0; + for (int z = border; z < sz-border; z++) + for (int y = border; y < sy-border; y++) + for (int x = border; x < sx-border; x++) { + int index = x + y * sx + z * sx*sy; + phiN1[index] = phiHatN1[index] + (phiN[index] - phiHatN[index]) * 0.50f; + //phiN1[index] = phiHatN1[index]; // debug, correction off + } + copyBorderX(phiN1, res); + copyBorderY(phiN1, res); + copyBorderZ(phiN1, res); + + // clamp any newly created extrema + clampExtrema(dt, xVelocity, yVelocity, zVelocity, oldField, newField, res); + + // if the error estimate was bad, revert to first order + clampOutsideRays(dt, xVelocity, yVelocity, zVelocity, oldField, newField, res, obstacles, phiHatN1); +} + + +////////////////////////////////////////////////////////////////////// +// Clamp the extrema generated by the BFECC error correction +////////////////////////////////////////////////////////////////////// +void FLUID_3D::clampExtrema(const float dt, const float* velx, const float* vely, const float* velz, + float* oldField, float* newField, Vec3Int res) +{ + const int xres= res[0]; + const int yres= res[1]; + const int zres= res[2]; + const int slabSize = res[0] * res[1]; + for (int z = 1; z < zres-1; z++) + for (int y = 1; y < yres-1; y++) + for (int x = 1; x < xres-1; x++) + { + const int index = x + y * xres+ z * xres*yres; + // backtrace + float xTrace = x - dt * velx[index]; + float yTrace = y - dt * vely[index]; + float zTrace = z - dt * velz[index]; + + // clamp backtrace to grid boundaries + if (xTrace < 0.5) xTrace = 0.5; + if (xTrace > xres - 1.5) xTrace = xres - 1.5; + if (yTrace < 0.5) yTrace = 0.5; + if (yTrace > yres - 1.5) yTrace = yres - 1.5; + if (zTrace < 0.5) zTrace = 0.5; + if (zTrace > zres - 1.5) zTrace = zres - 1.5; + + // locate neighbors to interpolate + const int x0 = (int)xTrace; + const int x1 = x0 + 1; + const int y0 = (int)yTrace; + const int y1 = y0 + 1; + const int z0 = (int)zTrace; + const int z1 = z0 + 1; + + const int i000 = x0 + y0 * xres + z0 * slabSize; + const int i010 = x0 + y1 * xres + z0 * slabSize; + const int i100 = x1 + y0 * xres + z0 * slabSize; + const int i110 = x1 + y1 * xres + z0 * slabSize; + const int i001 = x0 + y0 * xres + z1 * slabSize; + const int i011 = x0 + y1 * xres + z1 * slabSize; + const int i101 = x1 + y0 * xres + z1 * slabSize; + const int i111 = x1 + y1 * xres + z1 * slabSize; + + float minField = oldField[i000]; + float maxField = oldField[i000]; + + minField = (oldField[i010] < minField) ? oldField[i010] : minField; + maxField = (oldField[i010] > maxField) ? oldField[i010] : maxField; + + minField = (oldField[i100] < minField) ? oldField[i100] : minField; + maxField = (oldField[i100] > maxField) ? oldField[i100] : maxField; + + minField = (oldField[i110] < minField) ? oldField[i110] : minField; + maxField = (oldField[i110] > maxField) ? oldField[i110] : maxField; + + minField = (oldField[i001] < minField) ? oldField[i001] : minField; + maxField = (oldField[i001] > maxField) ? oldField[i001] : maxField; + + minField = (oldField[i011] < minField) ? oldField[i011] : minField; + maxField = (oldField[i011] > maxField) ? oldField[i011] : maxField; + + minField = (oldField[i101] < minField) ? oldField[i101] : minField; + maxField = (oldField[i101] > maxField) ? oldField[i101] : maxField; + + minField = (oldField[i111] < minField) ? oldField[i111] : minField; + maxField = (oldField[i111] > maxField) ? oldField[i111] : maxField; + + newField[index] = (newField[index] > maxField) ? maxField : newField[index]; + newField[index] = (newField[index] < minField) ? minField : newField[index]; + } +} + +////////////////////////////////////////////////////////////////////// +// Reverts any backtraces that go into boundaries back to first +// order -- in this case the error correction term was totally +// incorrect +////////////////////////////////////////////////////////////////////// +void FLUID_3D::clampOutsideRays(const float dt, const float* velx, const float* vely, const float* velz, + float* oldField, float* newField, Vec3Int res, const unsigned char* obstacles, const float *oldAdvection) +{ + const int sx= res[0]; + const int sy= res[1]; + const int sz= res[2]; + const int slabSize = res[0] * res[1]; + + for (int z = 1; z < sz-1; z++) + for (int y = 1; y < sy-1; y++) + for (int x = 1; x < sx-1; x++) + { + const int index = x + y * sx+ z * slabSize; + // backtrace + float xBackward = x + dt * velx[index]; + float yBackward = y + dt * vely[index]; + float zBackward = z + dt * velz[index]; + float xTrace = x - dt * velx[index]; + float yTrace = y - dt * vely[index]; + float zTrace = z - dt * velz[index]; + + // see if it goes outside the boundaries + bool hasObstacle = + (zTrace < 1.0f) || (zTrace > sz - 2.0f) || + (yTrace < 1.0f) || (yTrace > sy - 2.0f) || + (xTrace < 1.0f) || (xTrace > sx - 2.0f) || + (zBackward < 1.0f) || (zBackward > sz - 2.0f) || + (yBackward < 1.0f) || (yBackward > sy - 2.0f) || + (xBackward < 1.0f) || (xBackward > sx - 2.0f); + // reuse old advection instead of doing another one... + if(hasObstacle) { newField[index] = oldAdvection[index]; continue; } + + // clamp to prevent an out of bounds access when looking into + // the _obstacles array + zTrace = (zTrace < 0.5f) ? 0.5f : zTrace; + zTrace = (zTrace > sz - 1.5f) ? sz - 1.5f : zTrace; + yTrace = (yTrace < 0.5f) ? 0.5f : yTrace; + yTrace = (yTrace > sy - 1.5f) ? sy - 1.5f : yTrace; + xTrace = (xTrace < 0.5f) ? 0.5f : xTrace; + xTrace = (xTrace > sx - 1.5f) ? sx - 1.5f : xTrace; + + // locate neighbors to interpolate, + // do backward first since we will use the forward indices if a + // reversion is actually necessary + zBackward = (zBackward < 0.5f) ? 0.5f : zBackward; + zBackward = (zBackward > sz - 1.5f) ? sz - 1.5f : zBackward; + yBackward = (yBackward < 0.5f) ? 0.5f : yBackward; + yBackward = (yBackward > sy - 1.5f) ? sy - 1.5f : yBackward; + xBackward = (xBackward < 0.5f) ? 0.5f : xBackward; + xBackward = (xBackward > sx - 1.5f) ? sx - 1.5f : xBackward; + + int x0 = (int)xBackward; + int x1 = x0 + 1; + int y0 = (int)yBackward; + int y1 = y0 + 1; + int z0 = (int)zBackward; + int z1 = z0 + 1; + if(obstacles && !hasObstacle) { + hasObstacle = hasObstacle || + obstacles[x0 + y0 * sx + z0*slabSize] || + obstacles[x0 + y1 * sx + z0*slabSize] || + obstacles[x1 + y0 * sx + z0*slabSize] || + obstacles[x1 + y1 * sx + z0*slabSize] || + obstacles[x0 + y0 * sx + z1*slabSize] || + obstacles[x0 + y1 * sx + z1*slabSize] || + obstacles[x1 + y0 * sx + z1*slabSize] || + obstacles[x1 + y1 * sx + z1*slabSize] ; + } + // reuse old advection instead of doing another one... + if(hasObstacle) { newField[index] = oldAdvection[index]; continue; } + + x0 = (int)xTrace; + x1 = x0 + 1; + y0 = (int)yTrace; + y1 = y0 + 1; + z0 = (int)zTrace; + z1 = z0 + 1; + if(obstacles && !hasObstacle) { + hasObstacle = hasObstacle || + obstacles[x0 + y0 * sx + z0*slabSize] || + obstacles[x0 + y1 * sx + z0*slabSize] || + obstacles[x1 + y0 * sx + z0*slabSize] || + obstacles[x1 + y1 * sx + z0*slabSize] || + obstacles[x0 + y0 * sx + z1*slabSize] || + obstacles[x0 + y1 * sx + z1*slabSize] || + obstacles[x1 + y0 * sx + z1*slabSize] || + obstacles[x1 + y1 * sx + z1*slabSize] ; + } // obstacle array + // reuse old advection instead of doing another one... + if(hasObstacle) { newField[index] = oldAdvection[index]; continue; } + + // see if either the forward or backward ray went into + // a boundary + if (hasObstacle) { + // get interpolation weights + float s1 = xTrace - x0; + float s0 = 1.0f - s1; + float t1 = yTrace - y0; + float t0 = 1.0f - t1; + float u1 = zTrace - z0; + float u0 = 1.0f - u1; + + const int i000 = x0 + y0 * sx + z0 * slabSize; + const int i010 = x0 + y1 * sx + z0 * slabSize; + const int i100 = x1 + y0 * sx + z0 * slabSize; + const int i110 = x1 + y1 * sx + z0 * slabSize; + const int i001 = x0 + y0 * sx + z1 * slabSize; + const int i011 = x0 + y1 * sx + z1 * slabSize; + const int i101 = x1 + y0 * sx + z1 * slabSize; + const int i111 = x1 + y1 * sx + z1 * slabSize; + + // interpolate, (indices could be computed once) + newField[index] = u0 * (s0 * ( + t0 * oldField[i000] + + t1 * oldField[i010]) + + s1 * (t0 * oldField[i100] + + t1 * oldField[i110])) + + u1 * (s0 * (t0 * oldField[i001] + + t1 * oldField[i011]) + + s1 * (t0 * oldField[i101] + + t1 * oldField[i111])); + } + } // xyz +} + diff --git a/intern/smoke/intern/IMAGE.h b/intern/smoke/intern/IMAGE.h new file mode 100644 index 00000000000..a57f164509e --- /dev/null +++ b/intern/smoke/intern/IMAGE.h @@ -0,0 +1,277 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +////////////////////////////////////////////////////////////////////// +// +#ifndef IMAGE_H +#define IMAGE_H + +#include <stdlib.h> +#include <string> +#include <fstream> +#include <sstream> +#include <zlib.h> + +////////////////////////////////////////////////////////////////////// +// NT helper functions +////////////////////////////////////////////////////////////////////// +template < class T > inline T ABS( T a ) { + return (0 < a) ? a : -a ; +} + +template < class T > inline void SWAP_POINTERS( T &a, T &b ) { + T temp = a; + a = b; + b = temp; +} + +template < class T > inline void CLAMP( T &a, T b=0., T c=1.) { + if(a<b) { a=b; return; } + if(a>c) { a=c; return; } +} + +template < class T > inline T MIN( T a, T b) { + return (a < b) ? a : b; +} + +template < class T > inline T MAX( T a, T b) { + return (a > b) ? a : b; +} + +template < class T > inline T MAX3( T a, T b, T c) { + T max = (a > b) ? a : b; + max = (max > c) ? max : c; + return max; +} + +template < class T > inline float MAX3V( T vec) { + float max = (vec[0] > vec[1]) ? vec[0] : vec[1]; + max = (max > vec[2]) ? max : vec[2]; + return max; +} + +template < class T > inline float MIN3V( T vec) { + float min = (vec[0] < vec[1]) ? vec[0] : vec[1]; + min = (min < vec[2]) ? min : vec[2]; + return min; +} + +////////////////////////////////////////////////////////////////////// +// PNG, POV-Ray, and PBRT output functions +////////////////////////////////////////////////////////////////////// +#include <png.h> + +namespace IMAGE { + /* + static int writePng(const char *fileName, unsigned char **rowsp, int w, int h) + { + // defaults + const int colortype = PNG_COLOR_TYPE_RGBA; + const int bitdepth = 8; + png_structp png_ptr = NULL; + png_infop info_ptr = NULL; + png_bytep *rows = rowsp; + + FILE *fp = NULL; + std::string doing = "open for writing"; + if (!(fp = fopen(fileName, "wb"))) goto fail; + + if(!png_ptr) { + doing = "create png write struct"; + if (!(png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL))) goto fail; + } + if(!info_ptr) { + doing = "create png info struct"; + if (!(info_ptr = png_create_info_struct(png_ptr))) goto fail; + } + + if (setjmp(png_jmpbuf(png_ptr))) goto fail; + doing = "init IO"; + png_init_io(png_ptr, fp); + doing = "write header"; + png_set_IHDR(png_ptr, info_ptr, w, h, bitdepth, colortype, PNG_INTERLACE_NONE, + PNG_COMPRESSION_TYPE_BASE, PNG_FILTER_TYPE_BASE); + doing = "write info"; + png_write_info(png_ptr, info_ptr); + doing = "write image"; + png_write_image(png_ptr, rows); + doing = "write end"; + png_write_end(png_ptr, NULL); + doing = "write destroy structs"; + png_destroy_write_struct(&png_ptr, &info_ptr); + + fclose( fp ); + return 0; + + fail: + std::cerr << "writePng: could not "<<doing<<" !\n"; + if(fp) fclose( fp ); + if(png_ptr || info_ptr) png_destroy_write_struct(&png_ptr, &info_ptr); + return -1; + } + */ + + ///////////////////////////////////////////////////////////////////////////////// + // write a numbered PNG file out, padded with zeros up to three zeros + ///////////////////////////////////////////////////////////////////////////////// + /* + static void dumpNumberedPNG(int counter, std::string prefix, float* field, int xRes, int yRes) + { + char buffer[256]; + sprintf(buffer,"%04i", counter); + std::string number = std::string(buffer); + + unsigned char pngbuf[xRes*yRes*4]; + unsigned char *rows[yRes]; + float *pfield = field; + for (int j=0; j<yRes; j++) { + for (int i=0; i<xRes; i++) { + float val = *pfield; + if(val>1.) val=1.; + if(val<0.) val=0.; + pngbuf[(j*xRes+i)*4+0] = (unsigned char)(val*255.); + pngbuf[(j*xRes+i)*4+1] = (unsigned char)(val*255.); + pngbuf[(j*xRes+i)*4+2] = (unsigned char)(val*255.); + pfield++; + pngbuf[(j*xRes+i)*4+3] = 255; + } + rows[j] = &pngbuf[(yRes-j-1)*xRes*4]; + } + std::string filenamePNG = prefix + number + std::string(".png"); + writePng(filenamePNG.c_str(), rows, xRes, yRes, false); + printf("Writing %s\n", filenamePNG.c_str()); + + } +*/ + ///////////////////////////////////////////////////////////////////////////////// + // export pbrt volumegrid geometry object + ///////////////////////////////////////////////////////////////////////////////// + /* + static void dumpPBRT(int counter, std::string prefix, float* fieldOrg, int xRes, int yRes, int zRes) + { + char buffer[256]; + sprintf(buffer,"%04i", counter); + std::string number = std::string(buffer); + + std::string filenamePbrt = prefix + number + std::string(".pbrt.gz"); + printf("Writing PBRT %s\n", filenamePbrt.c_str()); + + float *field = new float[xRes*yRes*zRes]; + // normalize values + float maxDensVal = ABS(fieldOrg[0]); + float targetNorm = 0.5; + for (int i = 0; i < xRes * yRes * zRes; i++) { + if(ABS(fieldOrg[i])>maxDensVal) maxDensVal = ABS(fieldOrg[i]); + field[i] = 0.; + } + if(maxDensVal>0.) { + for (int i = 0; i < xRes * yRes * zRes; i++) { + field[i] = ABS(fieldOrg[i]) / maxDensVal * targetNorm; + } + } + + std::fstream fout; + fout.open(filenamePbrt.c_str(), std::ios::out); + + int maxRes = (xRes > yRes) ? xRes : yRes; + maxRes = (maxRes > zRes) ? maxRes : zRes; + + const float xSize = 1.0 / (float)maxRes * (float)xRes; + const float ySize = 1.0 / (float)maxRes * (float)yRes; + const float zSize = 1.0 / (float)maxRes * (float)zRes; + + gzFile file; + file = gzopen(filenamePbrt.c_str(), "wb1"); + if (file == NULL) { + std::cerr << " Couldn't write file " << filenamePbrt << "!!!" << std::endl; + return; + } + + // dimensions + gzprintf(file, "Volume \"volumegrid\" \n"); + gzprintf(file, " \"integer nx\" %i\n", xRes); + gzprintf(file, " \"integer ny\" %i\n", yRes); + gzprintf(file, " \"integer nz\" %i\n", zRes); + gzprintf(file, " \"point p0\" [ 0.0 0.0 0.0 ] \"point p1\" [%f %f %f ] \n", xSize, ySize, zSize); + gzprintf(file, " \"float density\" [ \n"); + for (int i = 0; i < xRes * yRes * zRes; i++) + gzprintf(file, "%f ", field[i]); + gzprintf(file, "] \n \n"); + + gzclose(file); + delete[] field; + } + */ + + ///////////////////////////////////////////////////////////////////////////////// + // 3D df3 export + ///////////////////////////////////////////////////////////////////////////////// +/* + static void dumpDF3(int counter, std::string prefix, float* fieldOrg, int xRes, int yRes, int zRes) + { + char buffer[256]; + + // do deferred copying to final directory, better for network directories + sprintf(buffer,"%04i", counter); + std::string number = std::string(buffer); + std::string filenameDf3 = prefix + number + std::string(".df3.gz"); + printf("Writing DF3 %s\n", filenameDf3.c_str()); + + gzFile file; + file = gzopen(filenameDf3.c_str(), "wb1"); + if (file == NULL) { + std::cerr << " Couldn't write file " << filenameDf3 << "!!!" << std::endl; + return; + } + + // dimensions + const int byteSize = 2; + const unsigned short int onx=xRes,ony=yRes,onz=zRes; + unsigned short int nx,ny,nz; + nx = onx >> 8; + ny = ony >> 8; + nz = onz >> 8; + nx += (onx << 8); + ny += (ony << 8); + nz += (onz << 8); + gzwrite(file, (void*)&nx, sizeof(short)); + gzwrite(file, (void*)&ny, sizeof(short)); + gzwrite(file, (void*)&nz, sizeof(short)); + const int nitems = onx*ony*onz; + const float mul = (float)( (1<<(8*byteSize))-1); + + unsigned short int *buf = new unsigned short int[nitems]; + for (int k = 0; k < onz; k++) + for (int j = 0; j < ony; j++) + for (int i = 0; i < onx; i++) { + float val = fieldOrg[k*(onx*ony)+j*onx+i] ; + CLAMP(val); + buf[k*(onx*ony)+j*onx+i] = (short int)(val*mul); + } + gzwrite(file, (void*)buf, sizeof(unsigned short int)* nitems); + + gzclose(file); + delete[] buf; + } + */ + +}; + + +#endif + diff --git a/intern/smoke/intern/INTERPOLATE.h b/intern/smoke/intern/INTERPOLATE.h new file mode 100644 index 00000000000..6800c3b84b0 --- /dev/null +++ b/intern/smoke/intern/INTERPOLATE.h @@ -0,0 +1,227 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +////////////////////////////////////////////////////////////////////// +#ifndef INTERPOLATE_H +#define INTERPOLATE_H + +#include <iostream> +#include <VEC3.h> + +namespace INTERPOLATE { + +////////////////////////////////////////////////////////////////////// +// linear interpolators +////////////////////////////////////////////////////////////////////// +static inline float lerp(float t, float a, float b) { + return ( a + t * (b - a) ); +} + +static inline float lerp(float* field, float x, float y, int res) { + // clamp backtrace to grid boundaries + if (x < 0.5f) x = 0.5f; + if (x > res - 1.5f) x = res - 1.5f; + if (y < 0.5f) y = 0.5f; + if (y > res - 1.5f) y = res - 1.5f; + + const int x0 = (int)x; + const int y0 = (int)y; + x -= x0; + y -= y0; + float d00, d10, d01, d11; + + // lerp the velocities + d00 = field[x0 + y0 * res]; + d10 = field[(x0 + 1) + y0 * res]; + d01 = field[x0 + (y0 + 1) * res]; + d11 = field[(x0 + 1) + (y0 + 1) * res]; + return lerp(y, lerp(x, d00, d10), + lerp(x, d01, d11)); +} + +////////////////////////////////////////////////////////////////////////////////////////// +// 3d linear interpolation +////////////////////////////////////////////////////////////////////////////////////////// +static inline float lerp3d(float* field, float x, float y, float z, int xres, int yres, int zres) { + // clamp pos to grid boundaries + if (x < 0.5) x = 0.5; + if (x > xres - 1.5) x = xres - 1.5; + if (y < 0.5) y = 0.5; + if (y > yres - 1.5) y = yres - 1.5; + if (z < 0.5) z = 0.5; + if (z > zres - 1.5) z = zres - 1.5; + + // locate neighbors to interpolate + const int x0 = (int)x; + const int x1 = x0 + 1; + const int y0 = (int)y; + const int y1 = y0 + 1; + const int z0 = (int)z; + const int z1 = z0 + 1; + + // get interpolation weights + const float s1 = x - (float)x0; + const float s0 = 1.0f - s1; + const float t1 = y - (float)y0; + const float t0 = 1.0f - t1; + const float u1 = z - (float)z0; + const float u0 = 1.0f - u1; + + const int slabSize = xres*yres; + const int i000 = x0 + y0 * xres + z0 * slabSize; + const int i010 = x0 + y1 * xres + z0 * slabSize; + const int i100 = x1 + y0 * xres + z0 * slabSize; + const int i110 = x1 + y1 * xres + z0 * slabSize; + const int i001 = x0 + y0 * xres + z1 * slabSize; + const int i011 = x0 + y1 * xres + z1 * slabSize; + const int i101 = x1 + y0 * xres + z1 * slabSize; + const int i111 = x1 + y1 * xres + z1 * slabSize; + + // interpolate (indices could be computed once) + return ( u0 * (s0 * (t0 * field[i000] + + t1 * field[i010]) + + s1 * (t0 * field[i100] + + t1 * field[i110])) + + u1 * (s0 * (t0 * field[i001] + + t1 * field[i011]) + + s1 * (t0 * field[i101] + + t1 * field[i111])) ); +} + +////////////////////////////////////////////////////////////////////////////////////////// +// convert field entries of type T to floats, then interpolate +////////////////////////////////////////////////////////////////////////////////////////// +template <class T> +static inline float lerp3dToFloat(T* field1, + float x, float y, float z, int xres, int yres, int zres) { + // clamp pos to grid boundaries + if (x < 0.5) x = 0.5; + if (x > xres - 1.5) x = xres - 1.5; + if (y < 0.5) y = 0.5; + if (y > yres - 1.5) y = yres - 1.5; + if (z < 0.5) z = 0.5; + if (z > zres - 1.5) z = zres - 1.5; + + // locate neighbors to interpolate + const int x0 = (int)x; + const int x1 = x0 + 1; + const int y0 = (int)y; + const int y1 = y0 + 1; + const int z0 = (int)z; + const int z1 = z0 + 1; + + // get interpolation weights + const float s1 = x - (float)x0; + const float s0 = 1.0f - s1; + const float t1 = y - (float)y0; + const float t0 = 1.0f - t1; + const float u1 = z - (float)z0; + const float u0 = 1.0f - u1; + + const int slabSize = xres*yres; + const int i000 = x0 + y0 * xres + z0 * slabSize; + const int i010 = x0 + y1 * xres + z0 * slabSize; + const int i100 = x1 + y0 * xres + z0 * slabSize; + const int i110 = x1 + y1 * xres + z0 * slabSize; + const int i001 = x0 + y0 * xres + z1 * slabSize; + const int i011 = x0 + y1 * xres + z1 * slabSize; + const int i101 = x1 + y0 * xres + z1 * slabSize; + const int i111 = x1 + y1 * xres + z1 * slabSize; + + // interpolate (indices could be computed once) + return (float)( + ( u0 * (s0 * (t0 * (float)field1[i000] + + t1 * (float)field1[i010]) + + s1 * (t0 * (float)field1[i100] + + t1 * (float)field1[i110])) + + u1 * (s0 * (t0 * (float)field1[i001] + + t1 * (float)field1[i011]) + + s1 * (t0 * (float)field1[i101] + + t1 * (float)field1[i111])) ) ); +} + +////////////////////////////////////////////////////////////////////////////////////////// +// interpolate a vector from 3 fields +////////////////////////////////////////////////////////////////////////////////////////// +static inline Vec3 lerp3dVec(float* field1, float* field2, float* field3, + float x, float y, float z, int xres, int yres, int zres) { + // clamp pos to grid boundaries + if (x < 0.5) x = 0.5; + if (x > xres - 1.5) x = xres - 1.5; + if (y < 0.5) y = 0.5; + if (y > yres - 1.5) y = yres - 1.5; + if (z < 0.5) z = 0.5; + if (z > zres - 1.5) z = zres - 1.5; + + // locate neighbors to interpolate + const int x0 = (int)x; + const int x1 = x0 + 1; + const int y0 = (int)y; + const int y1 = y0 + 1; + const int z0 = (int)z; + const int z1 = z0 + 1; + + // get interpolation weights + const float s1 = x - (float)x0; + const float s0 = 1.0f - s1; + const float t1 = y - (float)y0; + const float t0 = 1.0f - t1; + const float u1 = z - (float)z0; + const float u0 = 1.0f - u1; + + const int slabSize = xres*yres; + const int i000 = x0 + y0 * xres + z0 * slabSize; + const int i010 = x0 + y1 * xres + z0 * slabSize; + const int i100 = x1 + y0 * xres + z0 * slabSize; + const int i110 = x1 + y1 * xres + z0 * slabSize; + const int i001 = x0 + y0 * xres + z1 * slabSize; + const int i011 = x0 + y1 * xres + z1 * slabSize; + const int i101 = x1 + y0 * xres + z1 * slabSize; + const int i111 = x1 + y1 * xres + z1 * slabSize; + + // interpolate (indices could be computed once) + return Vec3( + ( u0 * (s0 * (t0 * field1[i000] + + t1 * field1[i010]) + + s1 * (t0 * field1[i100] + + t1 * field1[i110])) + + u1 * (s0 * (t0 * field1[i001] + + t1 * field1[i011]) + + s1 * (t0 * field1[i101] + + t1 * field1[i111])) ) , + ( u0 * (s0 * (t0 * field2[i000] + + t1 * field2[i010]) + + s1 * (t0 * field2[i100] + + t1 * field2[i110])) + + u1 * (s0 * (t0 * field2[i001] + + t1 * field2[i011]) + + s1 * (t0 * field2[i101] + + t1 * field2[i111])) ) , + ( u0 * (s0 * (t0 * field3[i000] + + t1 * field3[i010]) + + s1 * (t0 * field3[i100] + + t1 * field3[i110])) + + u1 * (s0 * (t0 * field3[i001] + + t1 * field3[i011]) + + s1 * (t0 * field3[i101] + + t1 * field3[i111])) ) + ); +} + +}; +#endif diff --git a/intern/smoke/intern/LICENSE.txt b/intern/smoke/intern/LICENSE.txt new file mode 100644 index 00000000000..94a9ed024d3 --- /dev/null +++ b/intern/smoke/intern/LICENSE.txt @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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But first, please read +<http://www.gnu.org/philosophy/why-not-lgpl.html>. diff --git a/intern/smoke/intern/LU_HELPER.h b/intern/smoke/intern/LU_HELPER.h new file mode 100644 index 00000000000..b3f3c5a1cb4 --- /dev/null +++ b/intern/smoke/intern/LU_HELPER.h @@ -0,0 +1,56 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +////////////////////////////////////////////////////////////////////// + +#ifndef LU_HELPER_H +#define LU_HELPER_H + +////////////////////////////////////////////////////////////////////// +// Helper function, compute eigenvalues of 3x3 matrix +////////////////////////////////////////////////////////////////////// + +#include "tnt/jama_lu.h" + +////////////////////////////////////////////////////////////////////// +// LU decomposition of 3x3 non-symmetric matrix +////////////////////////////////////////////////////////////////////// +JAMA::LU<float> inline computeLU3x3( + float a[3][3]) +{ + TNT::Array2D<float> A = TNT::Array2D<float>(3,3, &a[0][0]); + JAMA::LU<float> jLU= JAMA::LU<float>(A); + return jLU; +} + +////////////////////////////////////////////////////////////////////// +// LU decomposition of 3x3 non-symmetric matrix +////////////////////////////////////////////////////////////////////// +void inline solveLU3x3( + JAMA::LU<float>& A, + float x[3], + float b[3]) +{ + TNT::Array1D<float> jamaB = TNT::Array1D<float>(3, &b[0]); + TNT::Array1D<float> jamaX = A.solve(jamaB); + + x[0] = jamaX[0]; + x[1] = jamaX[1]; + x[2] = jamaX[2]; +} +#endif diff --git a/intern/smoke/intern/MERSENNETWISTER.h b/intern/smoke/intern/MERSENNETWISTER.h new file mode 100644 index 00000000000..8ad00d8b9c2 --- /dev/null +++ b/intern/smoke/intern/MERSENNETWISTER.h @@ -0,0 +1,429 @@ +// MersenneTwister.h +// Mersenne Twister random number generator -- a C++ class MTRand +// Based on code by Makoto Matsumoto, Takuji Nishimura, and Shawn Cokus +// Richard J. Wagner v1.0 15 May 2003 rjwagner@writeme.com + +// The Mersenne Twister is an algorithm for generating random numbers. It +// was designed with consideration of the flaws in various other generators. +// The period, 2^19937-1, and the order of equidistribution, 623 dimensions, +// are far greater. The generator is also fast; it avoids multiplication and +// division, and it benefits from caches and pipelines. For more information +// see the inventors' web page at http://www.math.keio.ac.jp/~matumoto/emt.html + +// Reference +// M. Matsumoto and T. Nishimura, "Mersenne Twister: A 623-Dimensionally +// Equidistributed Uniform Pseudo-Random Number Generator", ACM Transactions on +// Modeling and Computer Simulation, Vol. 8, No. 1, January 1998, pp 3-30. + +// Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, +// Copyright (C) 2000 - 2003, Richard J. Wagner +// All rights reserved. +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions +// are met: +// +// 1. Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// +// 2. Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// +// 3. The names of its contributors may not be used to endorse or promote +// products derived from this software without specific prior written +// permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, +// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, +// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +// The original code included the following notice: +// +// When you use this, send an email to: matumoto@math.keio.ac.jp +// with an appropriate reference to your work. +// +// It would be nice to CC: rjwagner@writeme.com and Cokus@math.washington.edu +// when you write. + +#ifndef MERSENNETWISTER_H +#define MERSENNETWISTER_H + +// Not thread safe (unless auto-initialization is avoided and each thread has +// its own MTRand object) + +#include <iostream> +#include <limits.h> +#include <stdio.h> +#include <time.h> +#include <math.h> + +class MTRand { +// Data +public: + typedef unsigned long uint32; // unsigned integer type, at least 32 bits + + enum { N = 624 }; // length of state vector + enum { SAVE = N + 1 }; // length of array for save() + +protected: + enum { M = 397 }; // period parameter + + uint32 state[N]; // internal state + uint32 *pNext; // next value to get from state + int left; // number of values left before reload needed + + +//Methods +public: + MTRand( const uint32& oneSeed ); // initialize with a simple uint32 + MTRand( uint32 *const bigSeed, uint32 const seedLength = N ); // or an array + MTRand(); // auto-initialize with /dev/urandom or time() and clock() + + // Do NOT use for CRYPTOGRAPHY without securely hashing several returned + // values together, otherwise the generator state can be learned after + // reading 624 consecutive values. + + // Access to 32-bit random numbers + double rand(); // real number in [0,1] + double rand( const double& n ); // real number in [0,n] + double randExc(); // real number in [0,1) + double randExc( const double& n ); // real number in [0,n) + double randDblExc(); // real number in (0,1) + double randDblExc( const double& n ); // real number in (0,n) + uint32 randInt(); // integer in [0,2^32-1] + uint32 randInt( const uint32& n ); // integer in [0,n] for n < 2^32 + double operator()() { return rand(); } // same as rand() + + // Access to 53-bit random numbers (capacity of IEEE double precision) + double rand53(); // real number in [0,1) + + // Access to nonuniform random number distributions + double randNorm( const double& mean = 0.0, const double& variance = 1.0 ); + + // Re-seeding functions with same behavior as initializers + void seed( const uint32 oneSeed ); + void seed( uint32 *const bigSeed, const uint32 seedLength = N ); + void seed(); + + // Saving and loading generator state + void save( uint32* saveArray ) const; // to array of size SAVE + void load( uint32 *const loadArray ); // from such array + friend std::ostream& operator<<( std::ostream& os, const MTRand& mtrand ); + friend std::istream& operator>>( std::istream& is, MTRand& mtrand ); + +protected: + void initialize( const uint32 oneSeed ); + void reload(); + uint32 hiBit( const uint32& u ) const { return u & 0x80000000UL; } + uint32 loBit( const uint32& u ) const { return u & 0x00000001UL; } + uint32 loBits( const uint32& u ) const { return u & 0x7fffffffUL; } + uint32 mixBits( const uint32& u, const uint32& v ) const + { return hiBit(u) | loBits(v); } + uint32 twist( const uint32& m, const uint32& s0, const uint32& s1 ) const + { return m ^ (mixBits(s0,s1)>>1) ^ (-loBit(s1) & 0x9908b0dfUL); } + static uint32 hash( time_t t, clock_t c ); +}; + + +inline MTRand::MTRand( const uint32& oneSeed ) + { seed(oneSeed); } + +inline MTRand::MTRand( uint32 *const bigSeed, const uint32 seedLength ) + { seed(bigSeed,seedLength); } + +inline MTRand::MTRand() + { seed(); } + +inline double MTRand::rand() + { return double(randInt()) * (1.0/4294967295.0); } + +inline double MTRand::rand( const double& n ) + { return rand() * n; } + +inline double MTRand::randExc() + { return double(randInt()) * (1.0/4294967296.0); } + +inline double MTRand::randExc( const double& n ) + { return randExc() * n; } + +inline double MTRand::randDblExc() + { return ( double(randInt()) + 0.5 ) * (1.0/4294967296.0); } + +inline double MTRand::randDblExc( const double& n ) + { return randDblExc() * n; } + +inline double MTRand::rand53() +{ + uint32 a = randInt() >> 5, b = randInt() >> 6; + return ( a * 67108864.0 + b ) * (1.0/9007199254740992.0); // by Isaku Wada +} + +inline double MTRand::randNorm( const double& mean, const double& variance ) +{ + // Return a real number from a normal (Gaussian) distribution with given + // mean and variance by Box-Muller method + double r = sqrt( -2.0 * log( 1.0-randDblExc()) ) * variance; + double phi = 2.0 * 3.14159265358979323846264338328 * randExc(); + return mean + r * cos(phi); +} + +inline MTRand::uint32 MTRand::randInt() +{ + // Pull a 32-bit integer from the generator state + // Every other access function simply transforms the numbers extracted here + + if( left == 0 ) reload(); + --left; + + register uint32 s1; + s1 = *pNext++; + s1 ^= (s1 >> 11); + s1 ^= (s1 << 7) & 0x9d2c5680UL; + s1 ^= (s1 << 15) & 0xefc60000UL; + return ( s1 ^ (s1 >> 18) ); +} + +inline MTRand::uint32 MTRand::randInt( const uint32& n ) +{ + // Find which bits are used in n + // Optimized by Magnus Jonsson (magnus@smartelectronix.com) + uint32 used = n; + used |= used >> 1; + used |= used >> 2; + used |= used >> 4; + used |= used >> 8; + used |= used >> 16; + + // Draw numbers until one is found in [0,n] + uint32 i; + do + i = randInt() & used; // toss unused bits to shorten search + while( i > n ); + return i; +} + + +inline void MTRand::seed( const uint32 oneSeed ) +{ + // Seed the generator with a simple uint32 + initialize(oneSeed); + reload(); +} + + +inline void MTRand::seed( uint32 *const bigSeed, const uint32 seedLength ) +{ + // Seed the generator with an array of uint32's + // There are 2^19937-1 possible initial states. This function allows + // all of those to be accessed by providing at least 19937 bits (with a + // default seed length of N = 624 uint32's). Any bits above the lower 32 + // in each element are discarded. + // Just call seed() if you want to get array from /dev/urandom + initialize(19650218UL); + register int i = 1; + register uint32 j = 0; + register int k = ( N > seedLength ? N : seedLength ); + for( ; k; --k ) + { + state[i] = + state[i] ^ ( (state[i-1] ^ (state[i-1] >> 30)) * 1664525UL ); + state[i] += ( bigSeed[j] & 0xffffffffUL ) + j; + state[i] &= 0xffffffffUL; + ++i; ++j; + if( i >= N ) { state[0] = state[N-1]; i = 1; } + if( j >= seedLength ) j = 0; + } + for( k = N - 1; k; --k ) + { + state[i] = + state[i] ^ ( (state[i-1] ^ (state[i-1] >> 30)) * 1566083941UL ); + state[i] -= i; + state[i] &= 0xffffffffUL; + ++i; + if( i >= N ) { state[0] = state[N-1]; i = 1; } + } + state[0] = 0x80000000UL; // MSB is 1, assuring non-zero initial array + reload(); +} + + +inline void MTRand::seed() +{ + // seed deterministically to produce reproducible runs + seed(123456); + + /* + // Seed the generator with an array from /dev/urandom if available + // Otherwise use a hash of time() and clock() values + + // First try getting an array from /dev/urandom + FILE* urandom = fopen( "/dev/urandom", "rb" ); + if( urandom ) + { + uint32 bigSeed[N]; + register uint32 *s = bigSeed; + register int i = N; + register bool success = true; + while( success && i-- ) + success = fread( s++, sizeof(uint32), 1, urandom ); + fclose(urandom); + if( success ) { seed( bigSeed, N ); return; } + } + + // Was not successful, so use time() and clock() instead + seed( hash( time(NULL), clock() ) ); + */ +} + + +inline void MTRand::initialize( const uint32 seed ) +{ + // Initialize generator state with seed + // See Knuth TAOCP Vol 2, 3rd Ed, p.106 for multiplier. + // In previous versions, most significant bits (MSBs) of the seed affect + // only MSBs of the state array. Modified 9 Jan 2002 by Makoto Matsumoto. + register uint32 *s = state; + register uint32 *r = state; + register int i = 1; + *s++ = seed & 0xffffffffUL; + for( ; i < N; ++i ) + { + *s++ = ( 1812433253UL * ( *r ^ (*r >> 30) ) + i ) & 0xffffffffUL; + r++; + } +} + + +inline void MTRand::reload() +{ + // Generate N new values in state + // Made clearer and faster by Matthew Bellew (matthew.bellew@home.com) + register uint32 *p = state; + register int i; + for( i = N - M; i--; ++p ) + *p = twist( p[M], p[0], p[1] ); + for( i = M; --i; ++p ) + *p = twist( p[M-N], p[0], p[1] ); + *p = twist( p[M-N], p[0], state[0] ); + + left = N, pNext = state; +} + + +inline MTRand::uint32 MTRand::hash( time_t t, clock_t c ) +{ + // Get a uint32 from t and c + // Better than uint32(x) in case x is floating point in [0,1] + // Based on code by Lawrence Kirby (fred@genesis.demon.co.uk) + + static uint32 differ = 0; // guarantee time-based seeds will change + + uint32 h1 = 0; + unsigned char *p = (unsigned char *) &t; + for( size_t i = 0; i < sizeof(t); ++i ) + { + h1 *= UCHAR_MAX + 2U; + h1 += p[i]; + } + uint32 h2 = 0; + p = (unsigned char *) &c; + for( size_t j = 0; j < sizeof(c); ++j ) + { + h2 *= UCHAR_MAX + 2U; + h2 += p[j]; + } + return ( h1 + differ++ ) ^ h2; +} + + +inline void MTRand::save( uint32* saveArray ) const +{ + register uint32 *sa = saveArray; + register const uint32 *s = state; + register int i = N; + for( ; i--; *sa++ = *s++ ) {} + *sa = left; +} + + +inline void MTRand::load( uint32 *const loadArray ) +{ + register uint32 *s = state; + register uint32 *la = loadArray; + register int i = N; + for( ; i--; *s++ = *la++ ) {} + left = *la; + pNext = &state[N-left]; +} + + +inline std::ostream& operator<<( std::ostream& os, const MTRand& mtrand ) +{ + register const MTRand::uint32 *s = mtrand.state; + register int i = mtrand.N; + for( ; i--; os << *s++ << "\t" ) {} + return os << mtrand.left; +} + + +inline std::istream& operator>>( std::istream& is, MTRand& mtrand ) +{ + register MTRand::uint32 *s = mtrand.state; + register int i = mtrand.N; + for( ; i--; is >> *s++ ) {} + is >> mtrand.left; + mtrand.pNext = &mtrand.state[mtrand.N-mtrand.left]; + return is; +} + +#endif // MERSENNETWISTER_H + +// Change log: +// +// v0.1 - First release on 15 May 2000 +// - Based on code by Makoto Matsumoto, Takuji Nishimura, and Shawn Cokus +// - Translated from C to C++ +// - Made completely ANSI compliant +// - Designed convenient interface for initialization, seeding, and +// obtaining numbers in default or user-defined ranges +// - Added automatic seeding from /dev/urandom or time() and clock() +// - Provided functions for saving and loading generator state +// +// v0.2 - Fixed bug which reloaded generator one step too late +// +// v0.3 - Switched to clearer, faster reload() code from Matthew Bellew +// +// v0.4 - Removed trailing newline in saved generator format to be consistent +// with output format of built-in types +// +// v0.5 - Improved portability by replacing static const int's with enum's and +// clarifying return values in seed(); suggested by Eric Heimburg +// - Removed MAXINT constant; use 0xffffffffUL instead +// +// v0.6 - Eliminated seed overflow when uint32 is larger than 32 bits +// - Changed integer [0,n] generator to give better uniformity +// +// v0.7 - Fixed operator precedence ambiguity in reload() +// - Added access for real numbers in (0,1) and (0,n) +// +// v0.8 - Included time.h header to properly support time_t and clock_t +// +// v1.0 - Revised seeding to match 26 Jan 2002 update of Nishimura and Matsumoto +// - Allowed for seeding with arrays of any length +// - Added access for real numbers in [0,1) with 53-bit resolution +// - Added access for real numbers from normal (Gaussian) distributions +// - Increased overall speed by optimizing twist() +// - Doubled speed of integer [0,n] generation +// - Fixed out-of-range number generation on 64-bit machines +// - Improved portability by substituting literal constants for long enum's +// - Changed license from GNU LGPL to BSD + diff --git a/intern/smoke/intern/Makefile b/intern/smoke/intern/Makefile new file mode 100644 index 00000000000..2cdd7d3853e --- /dev/null +++ b/intern/smoke/intern/Makefile @@ -0,0 +1,52 @@ +# +# $Id$ +# +# ***** BEGIN GPL LICENSE BLOCK ***** +# +# This program is free software; you can redistribute it and/or +# modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 +# of the License, or (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software Foundation, +# Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. +# All rights reserved. +# +# The Original Code is: all of this file. +# +# Contributor(s): none yet. +# +# ***** END GPL LICENSE BLOCK ***** +# smoke intern Makefile +# + +LIBNAME = smoke +DIR = $(OCGDIR)/intern/$(LIBNAME) + +include nan_compile.mk + +unexport NAN_QUIET + +CCFLAGS += $(LEVEL_2_CPP_WARNINGS) + +ifeq ($(WITH_BF_OPENMP),true) + CPPFLAGS += -DPARALLEL +endif + +CPPFLAGS += -I. +CPPFLAGS += -I../extern +CPPFLAGS += -I$(NAN_PNG)/include +CPPFLAGS += -I$(NAN_PNG)/include/libpng + +# zlib +ifeq ($(OS),$(findstring $(OS), "solaris windows")) + CPPFLAGS += -I$(NAN_ZLIB)/include +endif diff --git a/intern/smoke/intern/Makefile.FFT b/intern/smoke/intern/Makefile.FFT new file mode 100644 index 00000000000..e45af1df29b --- /dev/null +++ b/intern/smoke/intern/Makefile.FFT @@ -0,0 +1,22 @@ +# common stuff
+LDFLAGS_COMMON = -lfftw3 #-lglut -lglu32 -lopengl32 -lz -lpng
+CFLAGS_COMMON = -c -Wall -I./ #-I/cygdrive/c/lib/glvu/include -D_WIN32
+
+CC = g++
+CFLAGS = ${CFLAGS_COMMON} -O3 -Wno-unused
+LDFLAGS = ${LDFLAGS_COMMON}
+EXECUTABLE = noiseFFT
+
+SOURCES = noiseFFT.cpp
+OBJECTS = $(SOURCES:.cpp=.o)
+
+all: $(SOURCES) $(EXECUTABLE)
+
+$(EXECUTABLE): $(OBJECTS)
+ $(CC) $(OBJECTS) $(LDFLAGS) -o $@
+
+.cpp.o:
+ $(CC) $(CFLAGS) $< -o $@
+
+clean:
+ rm -f *.o $(EXECUTABLE_LOADER) $(EXECUTABLE)
diff --git a/intern/smoke/intern/Makefile.cygwin b/intern/smoke/intern/Makefile.cygwin new file mode 100644 index 00000000000..c93753a67fe --- /dev/null +++ b/intern/smoke/intern/Makefile.cygwin @@ -0,0 +1,23 @@ +CC = g++
+LDFLAGS = -lz -lpng
+CFLAGS = -O3 -Wno-unused -c -Wall -I./ -D_WIN32
+EXECUTABLE = FLUID_3D
+
+SOURCES = main.cpp FLUID_3D.cpp FLUID_3D_SOLVERS.cpp FLUID_3D_STATIC.cpp SPHERE.cpp WTURBULENCE.cpp
+OBJECTS = $(SOURCES:.cpp=.o)
+
+all: $(SOURCES) $(EXECUTABLE)
+
+$(EXECUTABLE): $(OBJECTS)
+ $(CC) $(OBJECTS) $(LDFLAGS) -o $@
+
+.cpp.o:
+ $(CC) $(CFLAGS) $< -o $@
+
+SPHERE.o: SPHERE.h
+FLUID_3D.o: FLUID_3D.h FLUID_3D.cpp
+FLUID_3D_SOLVERS.o: FLUID_3D.h FLUID_3D_SOLVERS.cpp
+main.o: FLUID_3D.h FLUID_3D.cpp FLUID_3D_SOLVERS.cpp
+
+clean:
+ rm -f *.o $(EXECUTABLE_LOADER) $(EXECUTABLE)
diff --git a/intern/smoke/intern/Makefile.linux b/intern/smoke/intern/Makefile.linux new file mode 100644 index 00000000000..8e71af465dd --- /dev/null +++ b/intern/smoke/intern/Makefile.linux @@ -0,0 +1,23 @@ +CC = g++
+LDFLAGS = -lz -lpng -fopenmp -lgomp
+CFLAGS = -c -Wall -I./ -fopenmp -DPARALLEL=1 -O3 -Wno-unused
+EXECUTABLE = FLUID_3D
+
+SOURCES = main.cpp FLUID_3D.cpp FLUID_3D_SOLVERS.cpp FLUID_3D_STATIC.cpp SPHERE.cpp WTURBULENCE.cpp
+OBJECTS = $(SOURCES:.cpp=.o)
+
+all: $(SOURCES) $(EXECUTABLE)
+
+$(EXECUTABLE): $(OBJECTS)
+ $(CC) $(OBJECTS) $(LDFLAGS) -o $@
+
+.cpp.o:
+ $(CC) $(CFLAGS) $< -o $@
+
+SPHERE.o: SPHERE.h
+FLUID_3D.o: FLUID_3D.h FLUID_3D.cpp
+FLUID_3D_SOLVERS.o: FLUID_3D.h FLUID_3D_SOLVERS.cpp
+main.o: FLUID_3D.h FLUID_3D.cpp FLUID_3D_SOLVERS.cpp
+
+clean:
+ rm -f *.o $(EXECUTABLE_LOADER) $(EXECUTABLE)
diff --git a/intern/smoke/intern/Makefile.mac b/intern/smoke/intern/Makefile.mac new file mode 100644 index 00000000000..227aaa10a16 --- /dev/null +++ b/intern/smoke/intern/Makefile.mac @@ -0,0 +1,35 @@ +CC = g++
+
+# uncomment the other two OPENMP_... lines, if your gcc supports OpenMP
+#OPENMP_FLAGS = -fopenmp -DPARALLEL=1 -I/opt/gcc-4.3/usr/local/include
+#OPENMPLD_FLAGS = -fopenmp -lgomp -I/opt/gcc-4.3/usr/local/lib
+OPENMP_FLAGS =
+OPENMPLD_FLAGS =
+
+# assumes MacPorts libpng installation
+PNG_INCLUDE = -I/opt/local/include
+PNG_LIBS = -I/opt/local/lib
+
+LDFLAGS = $(PNG_LIBS)-lz -lpng $(OPENMPLD_FLAGS)
+CFLAGS = -c -Wall -I./ $(PNG_INCLUDE) $(OPENMP_FLAGS) -O3 -Wno-unused
+EXECUTABLE = FLUID_3D
+
+SOURCES = main.cpp FLUID_3D.cpp FLUID_3D_SOLVERS.cpp FLUID_3D_STATIC.cpp SPHERE.cpp WTURBULENCE.cpp
+OBJECTS = $(SOURCES:.cpp=.o)
+
+all: $(SOURCES) $(EXECUTABLE)
+
+$(EXECUTABLE): $(OBJECTS)
+ $(CC) $(OBJECTS) $(LDFLAGS) -o $@
+
+.cpp.o:
+ $(CC) $(CFLAGS) $< -o $@
+
+SPHERE.o: SPHERE.h
+FLUID_3D.o: FLUID_3D.h FLUID_3D.cpp
+FLUID_3D_SOLVERS.o: FLUID_3D.h FLUID_3D_SOLVERS.cpp
+main.o: FLUID_3D.h FLUID_3D.cpp FLUID_3D_SOLVERS.cpp
+
+clean:
+ rm -f *.o $(EXECUTABLE_LOADER) $(EXECUTABLE)
+
diff --git a/intern/smoke/intern/OBSTACLE.h b/intern/smoke/intern/OBSTACLE.h new file mode 100644 index 00000000000..54e824d275d --- /dev/null +++ b/intern/smoke/intern/OBSTACLE.h @@ -0,0 +1,41 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +// OBSTACLE.h: interface for the OBSTACLE class. +// +////////////////////////////////////////////////////////////////////// + +#ifndef OBSTACLE_H +#define OBSTACLE_H + +enum OBSTACLE_FLAGS { + EMPTY = 0, + MARCHED = 2, + RETIRED = 4 +}; + +class OBSTACLE +{ +public: + OBSTACLE() {}; + virtual ~OBSTACLE() {}; + + virtual bool inside(float x, float y, float z) = 0; +}; + +#endif diff --git a/intern/smoke/intern/SPHERE.cpp b/intern/smoke/intern/SPHERE.cpp new file mode 100644 index 00000000000..4bb18fb81c0 --- /dev/null +++ b/intern/smoke/intern/SPHERE.cpp @@ -0,0 +1,50 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +// SPHERE.cpp: implementation of the SPHERE class. +// +////////////////////////////////////////////////////////////////////// + +#include "SPHERE.h" + +////////////////////////////////////////////////////////////////////// +// Construction/Destruction +////////////////////////////////////////////////////////////////////// + +SPHERE::SPHERE(float x, float y, float z, float radius) : + _radius(radius) +{ + _center[0] = x; + _center[1] = y; + _center[2] = z; +} + +SPHERE::~SPHERE() +{ + +} + +bool SPHERE::inside(float x, float y, float z) +{ + float translate[] = {x - _center[0], y - _center[1], z - _center[2]}; + float magnitude = translate[0] * translate[0] + + translate[1] * translate[1] + + translate[2] * translate[2]; + + return (magnitude < _radius * _radius) ? true : false; +} diff --git a/intern/smoke/intern/SPHERE.h b/intern/smoke/intern/SPHERE.h new file mode 100644 index 00000000000..13bd6e9493c --- /dev/null +++ b/intern/smoke/intern/SPHERE.h @@ -0,0 +1,41 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +// SPHERE.h: interface for the SPHERE class. +// +////////////////////////////////////////////////////////////////////// + +#ifndef SPHERE_H +#define SPHERE_H + +#include "OBSTACLE.h" + +class SPHERE : public OBSTACLE +{ +public: + SPHERE(float x, float y, float z, float radius); + virtual ~SPHERE(); + + bool inside(float x, float y, float z); + +private: + float _center[3]; + float _radius; +}; + +#endif diff --git a/intern/smoke/intern/VEC3.h b/intern/smoke/intern/VEC3.h new file mode 100644 index 00000000000..98c4555ac5f --- /dev/null +++ b/intern/smoke/intern/VEC3.h @@ -0,0 +1,986 @@ +/****************************************************************************** + * Copyright 2007 Nils Thuerey + * Basic vector class + *****************************************************************************/ +#ifndef BASICVECTOR_H +#define BASICVECTOR_H + +#include <math.h> +#include <stdlib.h> +#include <stdio.h> +#include <iostream> +#include <sstream> + +// use which fp-precision? 1=float, 2=double +#ifndef FLOATINGPOINT_PRECISION +#if DDF_DEBUG==1 +#define FLOATINGPOINT_PRECISION 2 +#else // DDF_DEBUG==1 +#define FLOATINGPOINT_PRECISION 1 +#endif // DDF_DEBUG==1 +#endif + +// VECTOR_EPSILON is the minimal vector length +// In order to be able to discriminate floating point values near zero, and +// to be sure not to fail a comparison because of roundoff errors, use this +// value as a threshold. + +#if FLOATINGPOINT_PRECISION==1 +typedef float Real; +#define FP_REAL_MAX __FLT_MAX__ +#define VECTOR_EPSILON (1e-5f) +#else +typedef double Real; +#define FP_REAL_MAX __DBL_MAX__ +#define VECTOR_EPSILON (1e-10) +#endif + + +// hardcoded limits for now... +// for e.g. MSVC compiler... +// some of these defines can be needed +// for linux systems as well (e.g. FLT_MAX) +#ifndef __FLT_MAX__ +# ifdef FLT_MAX // try to use it instead +# define __FLT_MAX__ FLT_MAX +# else // FLT_MAX +# define __FLT_MAX__ 3.402823466e+38f +# endif // FLT_MAX +#endif // __FLT_MAX__ +#ifndef __DBL_MAX__ +# ifdef DBL_MAX // try to use it instead +# define __DBL_MAX__ DBL_MAX +# else // DBL_MAX +# define __DBL_MAX__ 1.7976931348623158e+308 +# endif // DBL_MAX +#endif // __DBL_MAX__ + +#ifndef FLT_MAX +#define FLT_MAX __FLT_MAX__ +#endif + +#ifndef DBL_MAX +#define DBL_MAX __DBL_MAX__ +#endif + +#ifndef M_PI +# define M_PI 3.1415926536 +# define M_E 2.7182818284 +#endif + + + +namespace BasicVector { + + +// basic inlined vector class +template<class Scalar> +class Vector3Dim +{ +public: + // Constructor + inline Vector3Dim(); + // Copy-Constructor + inline Vector3Dim(const Vector3Dim<Scalar> &v ); + inline Vector3Dim(const float *); + inline Vector3Dim(const double *); + // construct a vector from one Scalar + inline Vector3Dim(Scalar); + // construct a vector from three Scalars + inline Vector3Dim(Scalar, Scalar, Scalar); + + // get address of array for OpenGL + Scalar *getAddress() { return value; } + + // Assignment operator + inline const Vector3Dim<Scalar>& operator= (const Vector3Dim<Scalar>& v); + // Assignment operator + inline const Vector3Dim<Scalar>& operator= (Scalar s); + // Assign and add operator + inline const Vector3Dim<Scalar>& operator+= (const Vector3Dim<Scalar>& v); + // Assign and add operator + inline const Vector3Dim<Scalar>& operator+= (Scalar s); + // Assign and sub operator + inline const Vector3Dim<Scalar>& operator-= (const Vector3Dim<Scalar>& v); + // Assign and sub operator + inline const Vector3Dim<Scalar>& operator-= (Scalar s); + // Assign and mult operator + inline const Vector3Dim<Scalar>& operator*= (const Vector3Dim<Scalar>& v); + // Assign and mult operator + inline const Vector3Dim<Scalar>& operator*= (Scalar s); + // Assign and div operator + inline const Vector3Dim<Scalar>& operator/= (const Vector3Dim<Scalar>& v); + // Assign and div operator + inline const Vector3Dim<Scalar>& operator/= (Scalar s); + + + // unary operator + inline Vector3Dim<Scalar> operator- () const; + + // binary operator add + inline Vector3Dim<Scalar> operator+ (const Vector3Dim<Scalar>&) const; + // binary operator add + inline Vector3Dim<Scalar> operator+ (Scalar) const; + // binary operator sub + inline Vector3Dim<Scalar> operator- (const Vector3Dim<Scalar>&) const; + // binary operator sub + inline Vector3Dim<Scalar> operator- (Scalar) const; + // binary operator mult + inline Vector3Dim<Scalar> operator* (const Vector3Dim<Scalar>&) const; + // binary operator mult + inline Vector3Dim<Scalar> operator* (Scalar) const; + // binary operator div + inline Vector3Dim<Scalar> operator/ (const Vector3Dim<Scalar>&) const; + // binary operator div + inline Vector3Dim<Scalar> operator/ (Scalar) const; + + // Projection normal to a vector + inline Vector3Dim<Scalar> getOrthogonalntlVector3Dim() const; + // Project into a plane + inline const Vector3Dim<Scalar>& projectNormalTo(const Vector3Dim<Scalar> &v); + + // minimize + inline const Vector3Dim<Scalar> &minimize(const Vector3Dim<Scalar> &); + // maximize + inline const Vector3Dim<Scalar> &maximize(const Vector3Dim<Scalar> &); + + // access operator + inline Scalar& operator[](unsigned int i); + // access operator + inline const Scalar& operator[](unsigned int i) const; + + //! actual values + union { + struct { + Scalar value[3]; + }; + struct { + Scalar x; + Scalar y; + Scalar z; + }; + struct { + Scalar X; + Scalar Y; + Scalar Z; + }; + }; +protected: + +}; + + + + + +//------------------------------------------------------------------------------ +// VECTOR inline FUNCTIONS +//------------------------------------------------------------------------------ + + + +/************************************************************************* + Constructor. + */ +template<class Scalar> +inline Vector3Dim<Scalar>::Vector3Dim( void ) +{ + value[0] = value[1] = value[2] = 0; +} + + + +/************************************************************************* + Copy-Constructor. + */ +template<class Scalar> +inline Vector3Dim<Scalar>::Vector3Dim( const Vector3Dim<Scalar> &v ) +{ + value[0] = v.value[0]; + value[1] = v.value[1]; + value[2] = v.value[2]; +} +template<class Scalar> +inline Vector3Dim<Scalar>::Vector3Dim( const float *fvalue) +{ + value[0] = (Scalar)fvalue[0]; + value[1] = (Scalar)fvalue[1]; + value[2] = (Scalar)fvalue[2]; +} +template<class Scalar> +inline Vector3Dim<Scalar>::Vector3Dim( const double *fvalue) +{ + value[0] = (Scalar)fvalue[0]; + value[1] = (Scalar)fvalue[1]; + value[2] = (Scalar)fvalue[2]; +} + + + +/************************************************************************* + Constructor for a vector from a single Scalar. All components of + the vector get the same value. + \param s The value to set + \return The new vector + */ +template<class Scalar> +inline Vector3Dim<Scalar>::Vector3Dim(Scalar s ) +{ + value[0]= s; + value[1]= s; + value[2]= s; +} + + +/************************************************************************* + Constructor for a vector from three Scalars. + \param s1 The value for the first vector component + \param s2 The value for the second vector component + \param s3 The value for the third vector component + \return The new vector + */ +template<class Scalar> +inline Vector3Dim<Scalar>::Vector3Dim(Scalar s1, Scalar s2, Scalar s3) +{ + value[0]= s1; + value[1]= s2; + value[2]= s3; +} + + + +/************************************************************************* + Copy a Vector3Dim componentwise. + \param v vector with values to be copied + \return Reference to self + */ +template<class Scalar> +inline const Vector3Dim<Scalar>& +Vector3Dim<Scalar>::operator=( const Vector3Dim<Scalar> &v ) +{ + value[0] = v.value[0]; + value[1] = v.value[1]; + value[2] = v.value[2]; + return *this; +} + + +/************************************************************************* + Copy a Scalar to each component. + \param s The value to copy + \return Reference to self + */ +template<class Scalar> +inline const Vector3Dim<Scalar>& +Vector3Dim<Scalar>::operator=(Scalar s) +{ + value[0] = s; + value[1] = s; + value[2] = s; + return *this; +} + + +/************************************************************************* + Add another Vector3Dim componentwise. + \param v vector with values to be added + \return Reference to self + */ +template<class Scalar> +inline const Vector3Dim<Scalar>& +Vector3Dim<Scalar>::operator+=( const Vector3Dim<Scalar> &v ) +{ + value[0] += v.value[0]; + value[1] += v.value[1]; + value[2] += v.value[2]; + return *this; +} + + +/************************************************************************* + Add a Scalar value to each component. + \param s Value to add + \return Reference to self + */ +template<class Scalar> +inline const Vector3Dim<Scalar>& +Vector3Dim<Scalar>::operator+=(Scalar s) +{ + value[0] += s; + value[1] += s; + value[2] += s; + return *this; +} + + +/************************************************************************* + Subtract another vector componentwise. + \param v vector of values to subtract + \return Reference to self + */ +template<class Scalar> +inline const Vector3Dim<Scalar>& +Vector3Dim<Scalar>::operator-=( const Vector3Dim<Scalar> &v ) +{ + value[0] -= v.value[0]; + value[1] -= v.value[1]; + value[2] -= v.value[2]; + return *this; +} + + +/************************************************************************* + Subtract a Scalar value from each component. + \param s Value to subtract + \return Reference to self + */ +template<class Scalar> +inline const Vector3Dim<Scalar>& +Vector3Dim<Scalar>::operator-=(Scalar s) +{ + value[0]-= s; + value[1]-= s; + value[2]-= s; + return *this; +} + + +/************************************************************************* + Multiply with another vector componentwise. + \param v vector of values to multiply with + \return Reference to self + */ +template<class Scalar> +inline const Vector3Dim<Scalar>& +Vector3Dim<Scalar>::operator*=( const Vector3Dim<Scalar> &v ) +{ + value[0] *= v.value[0]; + value[1] *= v.value[1]; + value[2] *= v.value[2]; + return *this; +} + + +/************************************************************************* + Multiply each component with a Scalar value. + \param s Value to multiply with + \return Reference to self + */ +template<class Scalar> +inline const Vector3Dim<Scalar>& +Vector3Dim<Scalar>::operator*=(Scalar s) +{ + value[0] *= s; + value[1] *= s; + value[2] *= s; + return *this; +} + + +/************************************************************************* + Divide by another Vector3Dim componentwise. + \param v vector of values to divide by + \return Reference to self + */ +template<class Scalar> +inline const Vector3Dim<Scalar>& +Vector3Dim<Scalar>::operator/=( const Vector3Dim<Scalar> &v ) +{ + value[0] /= v.value[0]; + value[1] /= v.value[1]; + value[2] /= v.value[2]; + return *this; +} + + +/************************************************************************* + Divide each component by a Scalar value. + \param s Value to divide by + \return Reference to self + */ +template<class Scalar> +inline const Vector3Dim<Scalar>& +Vector3Dim<Scalar>::operator/=(Scalar s) +{ + value[0] /= s; + value[1] /= s; + value[2] /= s; + return *this; +} + + +//------------------------------------------------------------------------------ +// unary operators +//------------------------------------------------------------------------------ + + +/************************************************************************* + Build componentwise the negative this vector. + \return The new (negative) vector + */ +template<class Scalar> +inline Vector3Dim<Scalar> +Vector3Dim<Scalar>::operator-() const +{ + return Vector3Dim<Scalar>(-value[0], -value[1], -value[2]); +} + + + +//------------------------------------------------------------------------------ +// binary operators +//------------------------------------------------------------------------------ + + +/************************************************************************* + Build a vector with another vector added componentwise. + \param v The second vector to add + \return The sum vector + */ +template<class Scalar> +inline Vector3Dim<Scalar> +Vector3Dim<Scalar>::operator+( const Vector3Dim<Scalar> &v ) const +{ + return Vector3Dim<Scalar>(value[0]+v.value[0], + value[1]+v.value[1], + value[2]+v.value[2]); +} + + +/************************************************************************* + Build a vector with a Scalar value added to each component. + \param s The Scalar value to add + \return The sum vector + */ +template<class Scalar> +inline Vector3Dim<Scalar> +Vector3Dim<Scalar>::operator+(Scalar s) const +{ + return Vector3Dim<Scalar>(value[0]+s, + value[1]+s, + value[2]+s); +} + + +/************************************************************************* + Build a vector with another vector subtracted componentwise. + \param v The second vector to subtract + \return The difference vector + */ +template<class Scalar> +inline Vector3Dim<Scalar> +Vector3Dim<Scalar>::operator-( const Vector3Dim<Scalar> &v ) const +{ + return Vector3Dim<Scalar>(value[0]-v.value[0], + value[1]-v.value[1], + value[2]-v.value[2]); +} + + +/************************************************************************* + Build a vector with a Scalar value subtracted componentwise. + \param s The Scalar value to subtract + \return The difference vector + */ +template<class Scalar> +inline Vector3Dim<Scalar> +Vector3Dim<Scalar>::operator-(Scalar s ) const +{ + return Vector3Dim<Scalar>(value[0]-s, + value[1]-s, + value[2]-s); +} + + + +/************************************************************************* + Build a vector with another vector multiplied by componentwise. + \param v The second vector to muliply with + \return The product vector + */ +template<class Scalar> +inline Vector3Dim<Scalar> +Vector3Dim<Scalar>::operator*( const Vector3Dim<Scalar>& v) const +{ + return Vector3Dim<Scalar>(value[0]*v.value[0], + value[1]*v.value[1], + value[2]*v.value[2]); +} + + +/************************************************************************* + Build a Vector3Dim with a Scalar value multiplied to each component. + \param s The Scalar value to multiply with + \return The product vector + */ +template<class Scalar> +inline Vector3Dim<Scalar> +Vector3Dim<Scalar>::operator*(Scalar s) const +{ + return Vector3Dim<Scalar>(value[0]*s, value[1]*s, value[2]*s); +} + + +/************************************************************************* + Build a vector divided componentwise by another vector. + \param v The second vector to divide by + \return The ratio vector + */ +template<class Scalar> +inline Vector3Dim<Scalar> +Vector3Dim<Scalar>::operator/(const Vector3Dim<Scalar>& v) const +{ + return Vector3Dim<Scalar>(value[0]/v.value[0], + value[1]/v.value[1], + value[2]/v.value[2]); +} + + + +/************************************************************************* + Build a vector divided componentwise by a Scalar value. + \param s The Scalar value to divide by + \return The ratio vector + */ +template<class Scalar> +inline Vector3Dim<Scalar> +Vector3Dim<Scalar>::operator/(Scalar s) const +{ + return Vector3Dim<Scalar>(value[0]/s, + value[1]/s, + value[2]/s); +} + + + + + +/************************************************************************* + Get a particular component of the vector. + \param i Number of Scalar to get + \return Reference to the component + */ +template<class Scalar> +inline Scalar& +Vector3Dim<Scalar>::operator[]( unsigned int i ) +{ + return value[i]; +} + + +/************************************************************************* + Get a particular component of a constant vector. + \param i Number of Scalar to get + \return Reference to the component + */ +template<class Scalar> +inline const Scalar& +Vector3Dim<Scalar>::operator[]( unsigned int i ) const +{ + return value[i]; +} + + + +//------------------------------------------------------------------------------ +// BLITZ compatibility functions +//------------------------------------------------------------------------------ + + + +/************************************************************************* + Compute the scalar product with another vector. + \param v The second vector to work with + \return The value of the scalar product + */ +template<class Scalar> +inline Scalar dot(const Vector3Dim<Scalar> &t, const Vector3Dim<Scalar> &v ) +{ + //return t.value[0]*v.value[0] + t.value[1]*v.value[1] + t.value[2]*v.value[2]; + return ((t[0]*v[0]) + (t[1]*v[1]) + (t[2]*v[2])); +} + + +/************************************************************************* + Calculate the cross product of this and another vector + */ +template<class Scalar> +inline Vector3Dim<Scalar> cross(const Vector3Dim<Scalar> &t, const Vector3Dim<Scalar> &v) +{ + Vector3Dim<Scalar> cp( + ((t[1]*v[2]) - (t[2]*v[1])), + ((t[2]*v[0]) - (t[0]*v[2])), + ((t[0]*v[1]) - (t[1]*v[0])) ); + return cp; +} + + + + +/************************************************************************* + Compute a vector that is orthonormal to self. Nothing else can be assumed + for the direction of the new vector. + \return The orthonormal vector + */ +template<class Scalar> +Vector3Dim<Scalar> +Vector3Dim<Scalar>::getOrthogonalntlVector3Dim() const +{ + // Determine the component with max. absolute value + int max= (fabs(value[0]) > fabs(value[1])) ? 0 : 1; + max= (fabs(value[max]) > fabs(value[2])) ? max : 2; + + /************************************************************************* + Choose another axis than the one with max. component and project + orthogonal to self + */ + Vector3Dim<Scalar> vec(0.0); + vec[(max+1)%3]= 1; + vec.normalize(); + vec.projectNormalTo(this->getNormalized()); + return vec; +} + + +/************************************************************************* + Projects the vector into a plane normal to the given vector, which must + have unit length. Self is modified. + \param v The plane normal + \return The projected vector + */ +template<class Scalar> +inline const Vector3Dim<Scalar>& +Vector3Dim<Scalar>::projectNormalTo(const Vector3Dim<Scalar> &v) +{ + Scalar sprod = dot(*this,v); + value[0]= value[0] - v.value[0] * sprod; + value[1]= value[1] - v.value[1] * sprod; + value[2]= value[2] - v.value[2] * sprod; + return *this; +} + + + +//------------------------------------------------------------------------------ +// Other helper functions +//------------------------------------------------------------------------------ + + + +/************************************************************************* + Minimize the vector, i.e. set each entry of the vector to the minimum + of both values. + \param pnt The second vector to compare with + \return Reference to the modified self + */ +template<class Scalar> +inline const Vector3Dim<Scalar> & +Vector3Dim<Scalar>::minimize(const Vector3Dim<Scalar> &pnt) +{ + for (unsigned int i = 0; i < 3; i++) + value[i] = MIN(value[i],pnt[i]); + return *this; +} + + + +/************************************************************************* + Maximize the vector, i.e. set each entry of the vector to the maximum + of both values. + \param pnt The second vector to compare with + \return Reference to the modified self + */ +template<class Scalar> +inline const Vector3Dim<Scalar> & +Vector3Dim<Scalar>::maximize(const Vector3Dim<Scalar> &pnt) +{ + for (unsigned int i = 0; i < 3; i++) + value[i] = MAX(value[i],pnt[i]); + return *this; +} + + + + + + +/************************************************************************/ +// HELPER FUNCTIONS, independent of implementation +/************************************************************************/ + +#define VECTOR_TYPE Vector3Dim<Scalar> + + +/************************************************************************* + Compute the length (norm) of the vector. + \return The value of the norm + */ +template<class Scalar> +inline Scalar norm( const VECTOR_TYPE &v) +{ + Scalar l = v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; + return (fabs(l-1.) < VECTOR_EPSILON*VECTOR_EPSILON) ? 1. : sqrt(l); +} + +// for e.g. min max operator +inline Real normHelper(const Vector3Dim<Real> &v) { + return norm(v); +} +inline Real normHelper(const Real &v) { + return (0. < v) ? v : -v ; +} +inline Real normHelper(const int &v) { + return (0 < v) ? (Real)(v) : (Real)(-v) ; +} + + +/************************************************************************* + Same as getNorm but doesnt sqrt + */ +template<class Scalar> +inline Scalar normNoSqrt( const VECTOR_TYPE &v) +{ + return v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; +} + + +/************************************************************************* + Compute a normalized vector based on this vector. + \return The new normalized vector + */ +template<class Scalar> +inline VECTOR_TYPE getNormalized( const VECTOR_TYPE &v) +{ + Scalar l = v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; + if (fabs(l-1.) < VECTOR_EPSILON*VECTOR_EPSILON) + return v; /* normalized "enough"... */ + else if (l > VECTOR_EPSILON*VECTOR_EPSILON) + { + Scalar fac = 1./sqrt(l); + return VECTOR_TYPE(v[0]*fac, v[1]*fac, v[2]*fac); + } + else + return VECTOR_TYPE((Scalar)0); +} + + +/************************************************************************* + Compute the norm of the vector and normalize it. + \return The value of the norm + */ +template<class Scalar> +inline Scalar normalize( VECTOR_TYPE &v) +{ + Scalar norm; + Scalar l = v[0]*v[0] + v[1]*v[1] + v[2]*v[2]; + if (fabs(l-1.) < VECTOR_EPSILON*VECTOR_EPSILON) { + norm = 1.; + } else if (l > VECTOR_EPSILON*VECTOR_EPSILON) { + norm = sqrt(l); + Scalar fac = 1./norm; + v[0] *= fac; + v[1] *= fac; + v[2] *= fac; + } else { + v[0]= v[1]= v[2]= 0; + norm = 0.; + } + return (Scalar)norm; +} + + +/************************************************************************* + Compute a vector, that is self (as an incoming + vector) reflected at a surface with a distinct normal vector. Note + that the normal is reversed, if the scalar product with it is positive. + \param n The surface normal + \return The new reflected vector + */ +template<class Scalar> +inline VECTOR_TYPE reflectVector(const VECTOR_TYPE &t, const VECTOR_TYPE &n) +{ + VECTOR_TYPE nn= (dot(t, n) > 0.0) ? (n*-1.0) : n; + return ( t - nn * (2.0 * dot(nn, t)) ); +} + + + +/************************************************************************* + * My own refraction calculation + * Taken from Glassner's book, section 5.2 (Heckberts method) + */ +template<class Scalar> +inline VECTOR_TYPE refractVector(const VECTOR_TYPE &t, const VECTOR_TYPE &normal, Scalar nt, Scalar nair, int &refRefl) +{ + Scalar eta = nair / nt; + Scalar n = -dot(t, normal); + Scalar tt = 1.0 + eta*eta* (n*n-1.0); + if(tt<0.0) { + // we have total reflection! + refRefl = 1; + } else { + // normal reflection + tt = eta*n - sqrt(tt); + return( t*eta + normal*tt ); + } + return t; +} + + +/************************************************************************* + Test two ntlVector3Dims for equality based on the equality of their + values within a small threshold. + \param c The second vector to compare + \return TRUE if both are equal + \sa getEpsilon() + */ +template<class Scalar> +inline bool equal(const VECTOR_TYPE &v, const VECTOR_TYPE &c) +{ + return (ABS(v[0]-c[0]) + + ABS(v[1]-c[1]) + + ABS(v[2]-c[2]) < VECTOR_EPSILON); +} + + +/************************************************************************* + * Assume this vector is an RGB color, and convert it to HSV + */ +template<class Scalar> +inline void rgbToHsv( VECTOR_TYPE &V ) +{ + Scalar h=0,s=0,v=0; + Scalar maxrgb, minrgb, delta; + // convert to hsv... + maxrgb = V[0]; + int maxindex = 1; + if(V[2] > maxrgb){ maxrgb = V[2]; maxindex = 2; } + if(V[1] > maxrgb){ maxrgb = V[1]; maxindex = 3; } + minrgb = V[0]; + if(V[2] < minrgb) minrgb = V[2]; + if(V[1] < minrgb) minrgb = V[1]; + + v = maxrgb; + delta = maxrgb-minrgb; + + if(maxrgb > 0) s = delta/maxrgb; + else s = 0; + + h = 0; + if(s > 0) { + if(maxindex == 1) { + h = ((V[1]-V[2])/delta) + 0.0; } + if(maxindex == 2) { + h = ((V[2]-V[0])/delta) + 2.0; } + if(maxindex == 3) { + h = ((V[0]-V[1])/delta) + 4.0; } + h *= 60.0; + if(h < 0.0) h += 360.0; + } + + V[0] = h; + V[1] = s; + V[2] = v; +} + +/************************************************************************* + * Assume this vector is HSV and convert to RGB + */ +template<class Scalar> +inline void hsvToRgb( VECTOR_TYPE &V ) +{ + Scalar h = V[0], s = V[1], v = V[2]; + Scalar r=0,g=0,b=0; + Scalar p,q,t, fracth; + int floorh; + // ...and back to rgb + if(s == 0) { + r = g = b = v; } + else { + h /= 60.0; + floorh = (int)h; + fracth = h - floorh; + p = v * (1.0 - s); + q = v * (1.0 - (s * fracth)); + t = v * (1.0 - (s * (1.0 - fracth))); + switch (floorh) { + case 0: r = v; g = t; b = p; break; + case 1: r = q; g = v; b = p; break; + case 2: r = p; g = v; b = t; break; + case 3: r = p; g = q; b = v; break; + case 4: r = t; g = p; b = v; break; + case 5: r = v; g = p; b = q; break; + } + } + + V[0] = r; + V[1] = g; + V[2] = b; +} + +//------------------------------------------------------------------------------ +// STREAM FUNCTIONS +//------------------------------------------------------------------------------ + + + +//! global string for formatting vector output in utilities.cpp +//extern const char *globVecFormatStr; +#if 0 +static const char *globVecFormatStr = "[%6.4f,%6.4f,%6.4f]"; +#endif + +/************************************************************************* + Outputs the object in human readable form using the format + [x,y,z] + */ +template<class Scalar> +std::ostream& +operator<<( std::ostream& os, const BasicVector::Vector3Dim<Scalar>& i ) +{ + char buf[256]; +#if 0 +#if _WIN32 + sprintf(buf,globVecFormatStr, (double)i[0],(double)i[1],(double)i[2]); +#else + snprintf(buf,256,globVecFormatStr, (double)i[0],(double)i[1],(double)i[2]); +#endif + os << std::string(buf); +#endif + return os; +} + + +/************************************************************************* + Reads the contents of the object from a stream using the same format + as the output operator. + */ +template<class Scalar> +std::istream& +operator>>( std::istream& is, BasicVector::Vector3Dim<Scalar>& i ) +{ + char c; + char dummy[3]; + is >> c >> i[0] >> dummy >> i[1] >> dummy >> i[2] >> c; + return is; +} + + +/**************************************************************************/ +// typedefs! +/**************************************************************************/ + +/* get minimal vector length value that can be discriminated. */ +inline Real getVecEpsilon() { return (Real)VECTOR_EPSILON; } + +// a 3D integer vector +typedef Vector3Dim<int> Vec3Int; + +// a 3D vector +typedef Vector3Dim<Real> Vec3; + + +}; // namespace + + +#endif /* BASICVECTOR_H */ diff --git a/intern/smoke/intern/WAVELET_NOISE.h b/intern/smoke/intern/WAVELET_NOISE.h new file mode 100644 index 00000000000..4c2e7514af7 --- /dev/null +++ b/intern/smoke/intern/WAVELET_NOISE.h @@ -0,0 +1,458 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +////////////////////////////////////////////////////////////////////////////////////////// +// Wavelet noise functions +// +// This code is based on the C code provided in the appendices of: +// +// @article{1073264, +// author = {Robert L. Cook and Tony DeRose}, +// title = {Wavelet noise}, +// journal = {ACM Trans. Graph.}, +// volume = {24}, +// number = {3}, +// year = {2005}, +// issn = {0730-0301}, +// pages = {803--811}, +// doi = {http://doi.acm.org/10.1145/1073204.1073264}, +// publisher = {ACM}, +// address = {New York, NY, USA}, +// } +// +////////////////////////////////////////////////////////////////////////////////////////// + +#ifndef WAVELET_NOISE_H +#define WAVELET_NOISE_H + +#include <MERSENNETWISTER.h> + +#define NOISE_TILE_SIZE 128 +static const int noiseTileSize = NOISE_TILE_SIZE; + +// warning - noiseTileSize has to be 128^3! +#define modFast128(x) ((x) & 127) +#define modFast64(x) ((x) & 63) +#define DOWNCOEFFS 0.000334f,-0.001528f, 0.000410f, 0.003545f,-0.000938f,-0.008233f, 0.002172f, 0.019120f, \ + -0.005040f,-0.044412f, 0.011655f, 0.103311f,-0.025936f,-0.243780f, 0.033979f, 0.655340f, \ + 0.655340f, 0.033979f,-0.243780f,-0.025936f, 0.103311f, 0.011655f,-0.044412f,-0.005040f, \ + 0.019120f, 0.002172f,-0.008233f,-0.000938f, 0.003546f, 0.000410f,-0.001528f, 0.000334f + +////////////////////////////////////////////////////////////////////////////////////////// +// Wavelet downsampling -- periodic boundary conditions +////////////////////////////////////////////////////////////////////////////////////////// +static void downsampleX(float *from, float *to, int n){ + // if these values are not local incorrect results are generated + float downCoeffs[32] = { DOWNCOEFFS }; + const float *a = &downCoeffs[16]; + for (int i = 0; i < n / 2; i++) { + to[i] = 0; + for (int k = 2 * i - 16; k <= 2 * i + 16; k++) + to[i] += a[k - 2 * i] * from[modFast128(k)]; + } +} +static void downsampleY(float *from, float *to, int n){ + // if these values are not local incorrect results are generated + float downCoeffs[32] = { DOWNCOEFFS }; + const float *a = &downCoeffs[16]; + for (int i = 0; i < n / 2; i++) { + to[i * n] = 0; + for (int k = 2 * i - 16; k <= 2 * i + 16; k++) + to[i * n] += a[k - 2 * i] * from[modFast128(k) * n]; + } +} +static void downsampleZ(float *from, float *to, int n){ + // if these values are not local incorrect results are generated + float downCoeffs[32] = { DOWNCOEFFS }; + const float *a = &downCoeffs[16]; + for (int i = 0; i < n / 2; i++) { + to[i * n * n] = 0; + for (int k = 2 * i - 16; k <= 2 * i + 16; k++) + to[i * n * n] += a[k - 2 * i] * from[modFast128(k) * n * n]; + } +} + +////////////////////////////////////////////////////////////////////////////////////////// +// Wavelet downsampling -- Neumann boundary conditions +////////////////////////////////////////////////////////////////////////////////////////// +static void downsampleNeumann(const float *from, float *to, int n, int stride) +{ + // if these values are not local incorrect results are generated + float downCoeffs[32] = { DOWNCOEFFS }; + static const float *const aCoCenter= &downCoeffs[16]; + for (int i = 0; i < n / 2; i++) { + to[i * stride] = 0; + for (int k = 2 * i - 16; k < 2 * i + 16; k++) { + // handle boundary + float fromval; + if (k < 0) { + fromval = from[0]; + } else if(k > n - 1) { + fromval = from[(n - 1) * stride]; + } else { + fromval = from[k * stride]; + } + to[i * stride] += aCoCenter[k - 2 * i] * fromval; + } + } +} +static void downsampleXNeumann(float* to, const float* from, int sx,int sy, int sz) { + for (int iy = 0; iy < sy; iy++) + for (int iz = 0; iz < sz; iz++) { + const int i = iy * sx + iz*sx*sy; + downsampleNeumann(&from[i], &to[i], sx, 1); + } +} +static void downsampleYNeumann(float* to, const float* from, int sx,int sy, int sz) { + for (int ix = 0; ix < sx; ix++) + for (int iz = 0; iz < sz; iz++) { + const int i = ix + iz*sx*sy; + downsampleNeumann(&from[i], &to[i], sy, sx); + } +} +static void downsampleZNeumann(float* to, const float* from, int sx,int sy, int sz) { + for (int ix = 0; ix < sx; ix++) + for (int iy = 0; iy < sy; iy++) { + const int i = ix + iy*sx; + downsampleNeumann(&from[i], &to[i], sz, sx*sy); + } +} + +////////////////////////////////////////////////////////////////////////////////////////// +// Wavelet upsampling - periodic boundary conditions +////////////////////////////////////////////////////////////////////////////////////////// +static float _upCoeffs[4] = {0.25f, 0.75f, 0.75f, 0.25f}; +static void upsampleX(float *from, float *to, int n) { + const float *p = &_upCoeffs[2]; + + for (int i = 0; i < n; i++) { + to[i] = 0; + for (int k = i / 2; k <= i / 2 + 1; k++) + to[i] += p[i - 2 * k] * from[modFast64(k)]; + } +} +static void upsampleY(float *from, float *to, int n) { + const float *p = &_upCoeffs[2]; + + for (int i = 0; i < n; i++) { + to[i * n] = 0; + for (int k = i / 2; k <= i / 2 + 1; k++) + to[i * n] += p[i - 2 * k] * from[modFast64(k) * n]; + } +} +static void upsampleZ(float *from, float *to, int n) { + const float *p = &_upCoeffs[2]; + + for (int i = 0; i < n; i++) { + to[i * n * n] = 0; + for (int k = i / 2; k <= i / 2 + 1; k++) + to[i * n * n] += p[i - 2 * k] * from[modFast64(k) * n * n]; + } +} + +////////////////////////////////////////////////////////////////////////////////////////// +// Wavelet upsampling - Neumann boundary conditions +////////////////////////////////////////////////////////////////////////////////////////// +static void upsampleNeumann(const float *from, float *to, int n, int stride) { + static const float *const pCoCenter = &_upCoeffs[2]; + for (int i = 0; i < n; i++) { + to[i * stride] = 0; + for (int k = i / 2; k <= i / 2 + 1; k++) { + float fromval; + if(k>n/2) { + fromval = from[(n/2) * stride]; + } else { + fromval = from[k * stride]; + } + to[i * stride] += pCoCenter[i - 2 * k] * fromval; + } + } +} +static void upsampleXNeumann(float* to, const float* from, int sx, int sy, int sz) { + for (int iy = 0; iy < sy; iy++) + for (int iz = 0; iz < sz; iz++) { + const int i = iy * sx + iz*sx*sy; + upsampleNeumann(&from[i], &to[i], sx, 1); + } +} +static void upsampleYNeumann(float* to, const float* from, int sx, int sy, int sz) { + for (int ix = 0; ix < sx; ix++) + for (int iz = 0; iz < sz; iz++) { + const int i = ix + iz*sx*sy; + upsampleNeumann(&from[i], &to[i], sy, sx); + } +} +static void upsampleZNeumann(float* to, const float* from, int sx, int sy, int sz) { + for (int ix = 0; ix < sx; ix++) + for (int iy = 0; iy < sy; iy++) { + const int i = ix + iy*sx; + upsampleNeumann(&from[i], &to[i], sz, sx*sy); + } +} + + +////////////////////////////////////////////////////////////////////////////////////////// +// load in an existing noise tile +////////////////////////////////////////////////////////////////////////////////////////// +static bool loadTile(float* const noiseTileData, std::string filename) +{ + FILE* file; + file = fopen(filename.c_str(), "rb"); + + if (file == NULL) { + printf("loadTile: No noise tile '%s' found.\n", filename.c_str()); + return false; + } + + // dimensions + size_t gridSize = noiseTileSize * noiseTileSize * noiseTileSize; + + // noiseTileData memory is managed by caller + size_t bread = fread((void*)noiseTileData, sizeof(float), gridSize, file); + fclose(file); + printf("Noise tile file '%s' loaded.\n", filename.c_str()); + + if (bread != gridSize) { + printf("loadTile: Noise tile '%s' is wrong size %d.\n", filename.c_str(), (int)bread); + return false; + } + return true; +} + +////////////////////////////////////////////////////////////////////////////////////////// +// write out an existing noise tile +////////////////////////////////////////////////////////////////////////////////////////// +static void saveTile(float* const noiseTileData, std::string filename) +{ + FILE* file; + file = fopen(filename.c_str(), "wb"); + + if (file == NULL) { + printf("saveTile: Noise tile '%s' could not be saved.\n", filename.c_str()); + return; + } + + fwrite((void*)noiseTileData, sizeof(float), noiseTileSize * noiseTileSize * noiseTileSize, file); + fclose(file); + + printf("saveTile: Noise tile file '%s' saved.\n", filename.c_str()); +} + +////////////////////////////////////////////////////////////////////////////////////////// +// create a new noise tile if necessary +////////////////////////////////////////////////////////////////////////////////////////// +static void generateTile_WAVELET(float* const noiseTileData, std::string filename) { + // if a tile already exists, just use that + if (loadTile(noiseTileData, filename)) return; + + const int n = noiseTileSize; + const int n3 = n*n*n; + std::cout <<"Generating new 3d noise tile size="<<n<<"^3 \n"; + MTRand twister; + + float *temp13 = new float[n3]; + float *temp23 = new float[n3]; + float *noise3 = new float[n3]; + + // initialize + for (int i = 0; i < n3; i++) { + temp13[i] = temp23[i] = noise3[i] = 0.; + } + + // Step 1. Fill the tile with random numbers in the range -1 to 1. + for (int i = 0; i < n3; i++) + noise3[i] = twister.randNorm(); + + // Steps 2 and 3. Downsample and upsample the tile + for (int iy = 0; iy < n; iy++) + for (int iz = 0; iz < n; iz++) { + const int i = iy * n + iz*n*n; + downsampleX(&noise3[i], &temp13[i], n); + upsampleX (&temp13[i], &temp23[i], n); + } + for (int ix = 0; ix < n; ix++) + for (int iz = 0; iz < n; iz++) { + const int i = ix + iz*n*n; + downsampleY(&temp23[i], &temp13[i], n); + upsampleY (&temp13[i], &temp23[i], n); + } + for (int ix = 0; ix < n; ix++) + for (int iy = 0; iy < n; iy++) { + const int i = ix + iy*n; + downsampleZ(&temp23[i], &temp13[i], n); + upsampleZ (&temp13[i], &temp23[i], n); + } + + // Step 4. Subtract out the coarse-scale contribution + for (int i = 0; i < n3; i++) + noise3[i] -= temp23[i]; + + // Avoid even/odd variance difference by adding odd-offset version of noise to itself. + int offset = n / 2; + if (offset % 2 == 0) offset++; + + int icnt=0; + for (int ix = 0; ix < n; ix++) + for (int iy = 0; iy < n; iy++) + for (int iz = 0; iz < n; iz++) { + temp13[icnt] = noise3[modFast128(ix+offset) + modFast128(iy+offset)*n + modFast128(iz+offset)*n*n]; + icnt++; + } + + for (int i = 0; i < n3; i++) + noise3[i] += temp13[i]; + + for (int i = 0; i < n3; i++) + noiseTileData[i] = noise3[i]; + + saveTile(noise3, filename); + delete[] temp13; + delete[] temp23; + delete[] noise3; + std::cout <<"Generating new 3d noise done\n"; +} + +////////////////////////////////////////////////////////////////////////////////////////// +// x derivative of noise +////////////////////////////////////////////////////////////////////////////////////////// +static inline float WNoiseDx(Vec3 p, float* data) { + int c[3], mid[3], n = noiseTileSize; + float w[3][3], t, result = 0; + + mid[0] = (int)ceil(p[0] - 0.5); + t = mid[0] - (p[0] - 0.5); + w[0][0] = -t; + w[0][2] = (1.f - t); + w[0][1] = 2.0f * t - 1.0f; + + mid[1] = (int)ceil(p[1] - 0.5); + t = mid[1] - (p[1] - 0.5); + w[1][0] = t * t / 2; + w[1][2] = (1 - t) * (1 - t) / 2; + w[1][1] = 1 - w[1][0] - w[1][2]; + + mid[2] = (int)ceil(p[2] - 0.5); + t = mid[2] - (p[2] - 0.5); + w[2][0] = t * t / 2; + w[2][2] = (1 - t) * (1 - t)/2; + w[2][1] = 1 - w[2][0] - w[2][2]; + + // to optimize, explicitly unroll this loop + for (int z = -1; z <=1; z++) + for (int y = -1; y <=1; y++) + for (int x = -1; x <=1; x++) + { + float weight = 1.0f; + c[0] = modFast128(mid[0] + x); + weight *= w[0][x+1]; + c[1] = modFast128(mid[1] + y); + weight *= w[1][y+1]; + c[2] = modFast128(mid[2] + z); + weight *= w[2][z+1]; + result += weight * data[c[2]*n*n+c[1]*n+c[0]]; + } + return result; +} + +////////////////////////////////////////////////////////////////////////////////////////// +// y derivative of noise +////////////////////////////////////////////////////////////////////////////////////////// +static inline float WNoiseDy(Vec3 p, float* data) { + int c[3], mid[3], n=noiseTileSize; + float w[3][3], t, result =0; + + mid[0] = (int)ceil(p[0] - 0.5); + t = mid[0]-(p[0] - 0.5); + w[0][0] = t * t / 2; + w[0][2] = (1 - t) * (1 - t) / 2; + w[0][1] = 1 - w[0][0] - w[0][2]; + + mid[1] = (int)ceil(p[1] - 0.5); + t = mid[1]-(p[1] - 0.5); + w[1][0] = -t; + w[1][2] = (1.f - t); + w[1][1] = 2.0f * t - 1.0f; + + mid[2] = (int)ceil(p[2] - 0.5); + t = mid[2] - (p[2] - 0.5); + w[2][0] = t * t / 2; + w[2][2] = (1 - t) * (1 - t)/2; + w[2][1] = 1 - w[2][0] - w[2][2]; + + // to optimize, explicitly unroll this loop + for (int z = -1; z <=1; z++) + for (int y = -1; y <=1; y++) + for (int x = -1; x <=1; x++) + { + float weight = 1.0f; + c[0] = modFast128(mid[0] + x); + weight *= w[0][x+1]; + c[1] = modFast128(mid[1] + y); + weight *= w[1][y+1]; + c[2] = modFast128(mid[2] + z); + weight *= w[2][z+1]; + result += weight * data[c[2]*n*n+c[1]*n+c[0]]; + } + + return result; +} + +////////////////////////////////////////////////////////////////////////////////////////// +// z derivative of noise +////////////////////////////////////////////////////////////////////////////////////////// +static inline float WNoiseDz(Vec3 p, float* data) { + int c[3], mid[3], n=noiseTileSize; + float w[3][3], t, result =0; + + mid[0] = (int)ceil(p[0] - 0.5); + t = mid[0]-(p[0] - 0.5); + w[0][0] = t * t / 2; + w[0][2] = (1 - t) * (1 - t) / 2; + w[0][1] = 1 - w[0][0] - w[0][2]; + + mid[1] = (int)ceil(p[1] - 0.5); + t = mid[1]-(p[1] - 0.5); + w[1][0] = t * t / 2; + w[1][2] = (1 - t) * (1 - t) / 2; + w[1][1] = 1 - w[1][0] - w[1][2]; + + mid[2] = (int)ceil(p[2] - 0.5); + t = mid[2] - (p[2] - 0.5); + w[2][0] = -t; + w[2][2] = (1.f - t); + w[2][1] = 2.0f * t - 1.0f; + + // to optimize, explicitly unroll this loop + for (int z = -1; z <=1; z++) + for (int y = -1; y <=1; y++) + for (int x = -1; x <=1; x++) + { + float weight = 1.0f; + c[0] = modFast128(mid[0] + x); + weight *= w[0][x+1]; + c[1] = modFast128(mid[1] + y); + weight *= w[1][y+1]; + c[2] = modFast128(mid[2] + z); + weight *= w[2][z+1]; + result += weight * data[c[2]*n*n+c[1]*n+c[0]]; + } + return result; +} + +#endif + diff --git a/intern/smoke/intern/WTURBULENCE.cpp b/intern/smoke/intern/WTURBULENCE.cpp new file mode 100644 index 00000000000..bcfc61856af --- /dev/null +++ b/intern/smoke/intern/WTURBULENCE.cpp @@ -0,0 +1,988 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +// WTURBULENCE handling +/////////////////////////////////////////////////////////////////////////////////// + +#include "WTURBULENCE.h" +#include "INTERPOLATE.h" +#include "IMAGE.h" +#include <MERSENNETWISTER.h> +#include "WAVELET_NOISE.h" +#include "FFT_NOISE.h" +#include "EIGENVALUE_HELPER.h" +#include "LU_HELPER.h" +#include "SPHERE.h" +#include <zlib.h> + +// needed to access static advection functions +#include "FLUID_3D.h" + +#if PARALLEL==1 +#include <omp.h> +#endif // PARALLEL + +// 2^ {-5/6} +static const float persistence = 0.56123f; + +////////////////////////////////////////////////////////////////////// +// constructor +////////////////////////////////////////////////////////////////////// +WTURBULENCE::WTURBULENCE(int xResSm, int yResSm, int zResSm, int amplify, int noisetype) +{ + // if noise magnitude is below this threshold, its contribution + // is negilgible, so stop evaluating new octaves + _cullingThreshold = 1e-3; + + // factor by which to increase the simulation resolution + _amplify = amplify; + + // manually adjust the overall amount of turbulence + // DG - RNA-fied _strength = 2.; + + // add the corresponding octaves of noise + _octaves = (int)(log((float)_amplify) / log(2.0f) + 0.5); // XXX DEBUG/ TODO: int casting correct? - dg + + // noise resolution + _xResBig = _amplify * xResSm; + _yResBig = _amplify * yResSm; + _zResBig = _amplify * zResSm; + _resBig = Vec3Int(_xResBig, _yResBig, _zResBig); + _invResBig = Vec3(1./(float)_resBig[0], 1./(float)_resBig[1], 1./(float)_resBig[2]); + _slabSizeBig = _xResBig*_yResBig; + _totalCellsBig = _slabSizeBig * _zResBig; + + // original / small resolution + _xResSm = xResSm; + _yResSm = yResSm; + _zResSm = zResSm; + _resSm = Vec3Int(xResSm, yResSm, zResSm); + _invResSm = Vec3(1./(float)_resSm[0], 1./(float)_resSm[1], 1./(float)_resSm[2] ); + _slabSizeSm = _xResSm*_yResSm; + _totalCellsSm = _slabSizeSm * _zResSm; + + // allocate high resolution density field + _totalStepsBig = 0; + _densityBig = new float[_totalCellsBig]; + _densityBigOld = new float[_totalCellsBig]; + + for(int i = 0; i < _totalCellsBig; i++) { + _densityBig[i] = + _densityBigOld[i] = 0.; + } + + // allocate & init texture coordinates + _tcU = new float[_totalCellsSm]; + _tcV = new float[_totalCellsSm]; + _tcW = new float[_totalCellsSm]; + _tcTemp = new float[_totalCellsSm]; + + // map all + const float dx = 1./(float)(_resSm[0]); + const float dy = 1./(float)(_resSm[1]); + const float dz = 1./(float)(_resSm[2]); + int index = 0; + for (int z = 0; z < _zResSm; z++) + for (int y = 0; y < _yResSm; y++) + for (int x = 0; x < _xResSm; x++, index++) + { + _tcU[index] = x*dx; + _tcV[index] = y*dy; + _tcW[index] = z*dz; + _tcTemp[index] = 0.; + } + + // noise tiles + _noiseTile = new float[noiseTileSize * noiseTileSize * noiseTileSize]; + /* + std::string noiseTileFilename = std::string("noise.wavelets"); + generateTile_WAVELET(_noiseTile, noiseTileFilename); + */ + setNoise(noisetype); + /* + std::string noiseTileFilename = std::string("noise.fft"); + generatTile_FFT(_noiseTile, noiseTileFilename); + */ +} + +////////////////////////////////////////////////////////////////////// +// destructor +////////////////////////////////////////////////////////////////////// +WTURBULENCE::~WTURBULENCE() { + delete[] _densityBig; + delete[] _densityBigOld; + + delete[] _tcU; + delete[] _tcV; + delete[] _tcW; + delete[] _tcTemp; + + delete[] _noiseTile; +} + +////////////////////////////////////////////////////////////////////// +// Change noise type +// +// type (1<<0) = wavelet / 2 +// type (1<<1) = FFT / 4 +// type (1<<2) = curl / 8 +////////////////////////////////////////////////////////////////////// +void WTURBULENCE::setNoise(int type) +{ + if(type == (1<<1)) // FFT + { + // needs fft + #if FFTW3==1 + std::string noiseTileFilename = std::string("noise.fft"); + generatTile_FFT(_noiseTile, noiseTileFilename); + #endif + } + else if(type == (1<<2)) // curl + { + // TODO: not supported yet + } + else // standard - wavelet + { + std::string noiseTileFilename = std::string("noise.wavelets"); + generateTile_WAVELET(_noiseTile, noiseTileFilename); + } +} + +// init direct access functions from blender +void WTURBULENCE::initBlenderRNA(float *strength) +{ + _strength = strength; +} + +////////////////////////////////////////////////////////////////////// +// Get the smallest valid x derivative +// +// Takes the one-sided finite difference in both directions and +// selects the smaller of the two +////////////////////////////////////////////////////////////////////// +static float minDx(int x, int y, int z, float* input, Vec3Int res) +{ + const int index = x + y * res[0] + z * res[0] * res[1]; + const int maxx = res[0]-2; + + // get grid values + float center = input[index]; + float left = (x <= 1) ? FLT_MAX : input[index - 1]; + float right = (x >= maxx) ? FLT_MAX : input[index + 1]; + + const float dx = res[0]; + + // get all the derivative estimates + float dLeft = (x <= 1) ? FLT_MAX : (center - left) * dx; + float dRight = (x >= maxx) ? FLT_MAX : (right - center) * dx; + float dCenter = (x <= 1 || x >= maxx) ? FLT_MAX : (right - left) * dx * 0.5f; + + // if it's on a boundary, only one estimate is valid + if (x <= 1) return dRight; + if (x >= maxx) return dLeft; + + // if it's not on a boundary, get the smallest one + float finalD; + finalD = (fabs(dCenter) < fabs(dRight)) ? dCenter : dRight; + finalD = (fabs(finalD) < fabs(dLeft)) ? finalD : dLeft; + + return finalD; +} + +////////////////////////////////////////////////////////////////////// +// get the smallest valid y derivative +// +// Takes the one-sided finite difference in both directions and +// selects the smaller of the two +////////////////////////////////////////////////////////////////////// +static float minDy(int x, int y, int z, float* input, Vec3Int res) +{ + const int index = x + y * res[0] + z * res[0] * res[1]; + const int maxy = res[1]-2; + + // get grid values + float center = input[index]; + float down = (y <= 1) ? FLT_MAX : input[index - res[0]]; + float up = (y >= maxy) ? FLT_MAX : input[index + res[0]]; + + const float dx = res[1]; // only for square domains + + // get all the derivative estimates + float dDown = (y <= 1) ? FLT_MAX : (center - down) * dx; + float dUp = (y >= maxy) ? FLT_MAX : (up - center) * dx; + float dCenter = (y <= 1 || y >= maxy) ? FLT_MAX : (up - down) * dx * 0.5f; + + // if it's on a boundary, only one estimate is valid + if (y <= 1) return dUp; + if (y >= maxy) return dDown; + + // if it's not on a boundary, get the smallest one + float finalD = (fabs(dCenter) < fabs(dUp)) ? dCenter : dUp; + finalD = (fabs(finalD) < fabs(dDown)) ? finalD : dDown; + + return finalD; +} + +////////////////////////////////////////////////////////////////////// +// get the smallest valid z derivative +// +// Takes the one-sided finite difference in both directions and +// selects the smaller of the two +////////////////////////////////////////////////////////////////////// +static float minDz(int x, int y, int z, float* input, Vec3Int res) +{ + const int slab = res[0]*res[1]; + const int index = x + y * res[0] + z * slab; + const int maxz = res[2]-2; + + // get grid values + float center = input[index]; + float front = (z <= 1) ? FLT_MAX : input[index - slab]; + float back = (z >= maxz) ? FLT_MAX : input[index + slab]; + + const float dx = res[2]; // only for square domains + + // get all the derivative estimates + float dfront = (z <= 1) ? FLT_MAX : (center - front) * dx; + float dback = (z >= maxz) ? FLT_MAX : (back - center) * dx; + float dCenter = (z <= 1 || z >= maxz) ? FLT_MAX : (back - front) * dx * 0.5f; + + // if it's on a boundary, only one estimate is valid + if (z <= 1) return dback; + if (z >= maxz) return dfront; + + // if it's not on a boundary, get the smallest one + float finalD = (fabs(dCenter) < fabs(dback)) ? dCenter : dback; + finalD = (fabs(finalD) < fabs(dfront)) ? finalD : dfront; + + return finalD; +} + +////////////////////////////////////////////////////////////////////// +// handle texture coordinates (advection, reset, eigenvalues), +// Beware -- uses big density maccormack as temporary arrays +////////////////////////////////////////////////////////////////////// +void WTURBULENCE::advectTextureCoordinates (float dtOrg, float* xvel, float* yvel, float* zvel, float *tempBig1, float *tempBig2) { + // advection + SWAP_POINTERS(_tcTemp, _tcU); + FLUID_3D::copyBorderX(_tcTemp, _resSm); + FLUID_3D::copyBorderY(_tcTemp, _resSm); + FLUID_3D::copyBorderZ(_tcTemp, _resSm); + FLUID_3D::advectFieldMacCormack(dtOrg, xvel, yvel, zvel, + _tcTemp, _tcU, tempBig1, tempBig2, _resSm, NULL); + + SWAP_POINTERS(_tcTemp, _tcV); + FLUID_3D::copyBorderX(_tcTemp, _resSm); + FLUID_3D::copyBorderY(_tcTemp, _resSm); + FLUID_3D::copyBorderZ(_tcTemp, _resSm); + FLUID_3D::advectFieldMacCormack(dtOrg, xvel, yvel, zvel, + _tcTemp, _tcV, tempBig1, tempBig2, _resSm, NULL); + + SWAP_POINTERS(_tcTemp, _tcW); + FLUID_3D::copyBorderX(_tcTemp, _resSm); + FLUID_3D::copyBorderY(_tcTemp, _resSm); + FLUID_3D::copyBorderZ(_tcTemp, _resSm); + FLUID_3D::advectFieldMacCormack(dtOrg, xvel, yvel, zvel, + _tcTemp, _tcW, tempBig1, tempBig2, _resSm, NULL); +} + +////////////////////////////////////////////////////////////////////// +// Compute the eigenvalues of the advected texture +////////////////////////////////////////////////////////////////////// +void WTURBULENCE::computeEigenvalues(float *_eigMin, float *_eigMax) { + // stats + float maxeig = -1.; + float mineig = 10.; + + // texture coordinate eigenvalues + for (int z = 1; z < _zResSm-1; z++) { + for (int y = 1; y < _yResSm-1; y++) + for (int x = 1; x < _xResSm-1; x++) + { + const int index = x+ y *_resSm[0] + z*_slabSizeSm; + + // compute jacobian + float jacobian[3][3] = { + { minDx(x, y, z, _tcU, _resSm), minDx(x, y, z, _tcV, _resSm), minDx(x, y, z, _tcW, _resSm) } , + { minDy(x, y, z, _tcU, _resSm), minDy(x, y, z, _tcV, _resSm), minDy(x, y, z, _tcW, _resSm) } , + { minDz(x, y, z, _tcU, _resSm), minDz(x, y, z, _tcV, _resSm), minDz(x, y, z, _tcW, _resSm) } + }; + + // ONLY compute the eigenvalues after checking that the matrix + // is nonsingular + JAMA::LU<float> LU = computeLU3x3(jacobian); + + if (LU.isNonsingular()) + { + // get the analytic eigenvalues, quite slow right now... + Vec3 eigenvalues = Vec3(1.); + computeEigenvalues3x3( &eigenvalues[0], jacobian); + _eigMax[index] = MAX3V(eigenvalues); + _eigMin[index] = MIN3V(eigenvalues); + maxeig = MAX(_eigMax[index],maxeig); + mineig = MIN(_eigMin[index],mineig); + } + else + { + _eigMax[index] = 10.0f; + _eigMin[index] = 0.1; + } + } + } +} + +////////////////////////////////////////////////////////////////////// +// advect & reset texture coordinates based on eigenvalues +////////////////////////////////////////////////////////////////////// +void WTURBULENCE::resetTextureCoordinates(float *_eigMin, float *_eigMax) +{ + // allowed deformation of the textures + const float limit = 2.f; + const float limitInv = 1./limit; + + // standard reset + int resets = 0; + const float dx = 1./(float)(_resSm[0]); + const float dy = 1./(float)(_resSm[1]); + const float dz = 1./(float)(_resSm[2]); + + for (int z = 1; z < _zResSm-1; z++) + for (int y = 1; y < _yResSm-1; y++) + for (int x = 1; x < _xResSm-1; x++) + { + const int index = x+ y *_resSm[0] + z*_slabSizeSm; + if (_eigMax[index] > limit || _eigMin[index] < limitInv) + { + _tcU[index] = (float)x * dx; + _tcV[index] = (float)y * dy; + _tcW[index] = (float)z * dz; + resets++; + } + } +} + +////////////////////////////////////////////////////////////////////// +// Compute the highest frequency component of the wavelet +// decomposition +////////////////////////////////////////////////////////////////////// +void WTURBULENCE::decomposeEnergy(float *_energy, float *_highFreqEnergy) +{ + // do the decomposition -- the goal here is to have + // the energy with the high frequency component stomped out + // stored in _tcTemp when it is done. _highFreqEnergy is only used + // as an additional temp array + + // downsample input + downsampleXNeumann(_highFreqEnergy, _energy, _xResSm, _yResSm, _zResSm); + downsampleYNeumann(_tcTemp, _highFreqEnergy, _xResSm, _yResSm, _zResSm); + downsampleZNeumann(_highFreqEnergy, _tcTemp, _xResSm, _yResSm, _zResSm); + + // upsample input + upsampleZNeumann(_tcTemp, _highFreqEnergy, _xResSm, _yResSm, _zResSm); + upsampleYNeumann(_highFreqEnergy, _tcTemp, _xResSm, _yResSm, _zResSm); + upsampleXNeumann(_tcTemp, _highFreqEnergy, _xResSm, _yResSm, _zResSm); + + // subtract the down and upsampled field from the original field -- + // what should be left over is solely the high frequency component + int index = 0; + for (int z = 0; z < _zResSm; z++) + for (int y = 0; y < _yResSm; y++) { + for (int x = 0; x < _xResSm; x++, index++) { + // brute force reset of boundaries + if(z >= _zResSm - 1 || x >= _xResSm - 1 || y >= _yResSm - 1 || z <= 0 || y <= 0 || x <= 0) + _highFreqEnergy[index] = 0.; + else + _highFreqEnergy[index] = _energy[index] - _tcTemp[index]; + } + } +} + +////////////////////////////////////////////////////////////////////// +// compute velocity from energies and march into obstacles +// for wavelet decomposition +////////////////////////////////////////////////////////////////////// +void WTURBULENCE::computeEnergy(float *_energy, float* xvel, float* yvel, float* zvel, unsigned char *obstacles) +{ + // compute everywhere + for (int x = 0; x < _totalCellsSm; x++) + _energy[x] = 0.5f * (xvel[x] * xvel[x] + yvel[x] * yvel[x] + zvel[x] * zvel[x]); + + FLUID_3D::copyBorderX(_energy, _resSm); + FLUID_3D::copyBorderY(_energy, _resSm); + FLUID_3D::copyBorderZ(_energy, _resSm); + + // pseudo-march the values into the obstacles + // the wavelet upsampler only uses a 3x3 support neighborhood, so + // propagating the values in by 4 should be sufficient + int index; + + // iterate + for (int iter = 0; iter < 4; iter++) + { + index = _slabSizeSm + _xResSm + 1; + for (int z = 1; z < _zResSm - 1; z++, index += 2 * _xResSm) + for (int y = 1; y < _yResSm - 1; y++, index += 2) + for (int x = 1; x < _xResSm - 1; x++, index++) + if (obstacles[index] && obstacles[index] != RETIRED) + { + float sum = 0.0f; + int valid = 0; + + if (!obstacles[index + 1] || obstacles[index + 1] == RETIRED) + { + sum += _energy[index + 1]; + valid++; + } + if (!obstacles[index - 1] || obstacles[index - 1] == RETIRED) + { + sum += _energy[index - 1]; + valid++; + } + if (!obstacles[index + _xResSm] || obstacles[index + _xResSm] == RETIRED) + { + sum += _energy[index + _xResSm]; + valid++; + } + if (!obstacles[index - _xResSm] || obstacles[index - _xResSm] == RETIRED) + { + sum += _energy[index - _xResSm]; + valid++; + } + if (!obstacles[index + _slabSizeSm] || obstacles[index + _slabSizeSm] == RETIRED) + { + sum += _energy[index + _slabSizeSm]; + valid++; + } + if (!obstacles[index - _slabSizeSm] || obstacles[index - _slabSizeSm] == RETIRED) + { + sum += _energy[index - _slabSizeSm]; + valid++; + } + if (valid > 0) + { + _energy[index] = sum / (float)valid; + obstacles[index] = MARCHED; + } + } + index = _slabSizeSm + _xResSm + 1; + for (int z = 1; z < _zResSm - 1; z++, index += 2 * _xResSm) + for (int y = 1; y < _yResSm - 1; y++, index += 2) + for (int x = 1; x < _xResSm - 1; x++, index++) + if (obstacles[index] == MARCHED) + obstacles[index] = RETIRED; + } + index = _slabSizeSm + _xResSm + 1; + for (int z = 1; z < _zResSm - 1; z++, index += 2 * _xResSm) + for (int y = 1; y < _yResSm - 1; y++, index += 2) + for (int x = 1; x < _xResSm - 1; x++, index++) + if (obstacles[index]) + obstacles[index] = 1; +} + +////////////////////////////////////////////////////////////////////////////////////////// +// Evaluate derivatives +////////////////////////////////////////////////////////////////////////////////////////// +Vec3 WTURBULENCE::WVelocity(Vec3 orgPos) +{ + // arbitrarily offset evaluation points + const Vec3 p1 = orgPos + Vec3(NOISE_TILE_SIZE/2.0,0,0); + const Vec3 p2 = orgPos + Vec3(0,NOISE_TILE_SIZE/2.0,0); + const Vec3 p3 = orgPos + Vec3(0,0,NOISE_TILE_SIZE/2.0); + + const float f1y = WNoiseDy(p1, _noiseTile); + const float f1z = WNoiseDz(p1, _noiseTile); + + const float f2x = WNoiseDx(p2, _noiseTile); + const float f2z = WNoiseDz(p2, _noiseTile); + + const float f3x = WNoiseDx(p3, _noiseTile); + const float f3y = WNoiseDy(p3, _noiseTile); + + Vec3 ret = Vec3( + f3y - f2z, + f1z - f3x, + f2x - f1y ); + return ret; +} + +////////////////////////////////////////////////////////////////////////////////////////// +// Evaluate derivatives with Jacobian +////////////////////////////////////////////////////////////////////////////////////////// +Vec3 WTURBULENCE::WVelocityWithJacobian(Vec3 orgPos, float* xUnwarped, float* yUnwarped, float* zUnwarped) +{ + // arbitrarily offset evaluation points + const Vec3 p1 = orgPos + Vec3(NOISE_TILE_SIZE/2.0,0,0); + const Vec3 p2 = orgPos + Vec3(0,NOISE_TILE_SIZE/2.0,0); + const Vec3 p3 = orgPos + Vec3(0,0,NOISE_TILE_SIZE/2.0); + + Vec3 final; + final[0] = WNoiseDx(p1, _noiseTile); + final[1] = WNoiseDy(p1, _noiseTile); + final[2] = WNoiseDz(p1, _noiseTile); + // UNUSED const float f1x = xUnwarped[0] * final[0] + xUnwarped[1] * final[1] + xUnwarped[2] * final[2]; + const float f1y = yUnwarped[0] * final[0] + yUnwarped[1] * final[1] + yUnwarped[2] * final[2]; + const float f1z = zUnwarped[0] * final[0] + zUnwarped[1] * final[1] + zUnwarped[2] * final[2]; + + final[0] = WNoiseDx(p2, _noiseTile); + final[1] = WNoiseDy(p2, _noiseTile); + final[2] = WNoiseDz(p2, _noiseTile); + const float f2x = xUnwarped[0] * final[0] + xUnwarped[1] * final[1] + xUnwarped[2] * final[2]; + // UNUSED const float f2y = yUnwarped[0] * final[0] + yUnwarped[1] * final[1] + yUnwarped[2] * final[2]; + const float f2z = zUnwarped[0] * final[0] + zUnwarped[1] * final[1] + zUnwarped[2] * final[2]; + + final[0] = WNoiseDx(p3, _noiseTile); + final[1] = WNoiseDy(p3, _noiseTile); + final[2] = WNoiseDz(p3, _noiseTile); + const float f3x = xUnwarped[0] * final[0] + xUnwarped[1] * final[1] + xUnwarped[2] * final[2]; + const float f3y = yUnwarped[0] * final[0] + yUnwarped[1] * final[1] + yUnwarped[2] * final[2]; + // UNUSED const float f3z = zUnwarped[0] * final[0] + zUnwarped[1] * final[1] + zUnwarped[2] * final[2]; + + Vec3 ret = Vec3( + f3y - f2z, + f1z - f3x, + f2x - f1y ); + return ret; +} + + +////////////////////////////////////////////////////////////////////// +// perform an actual noise advection step +////////////////////////////////////////////////////////////////////// +void WTURBULENCE::stepTurbulenceReadable(float dtOrg, float* xvel, float* yvel, float* zvel, unsigned char *obstacles) +{ + // enlarge timestep to match grid + const float dt = dtOrg * _amplify; + const float invAmp = 1.0f / _amplify; + float *tempBig1 = new float[_totalCellsBig]; + float *tempBig2 = new float[_totalCellsBig]; + float *bigUx = new float[_totalCellsBig]; + float *bigUy = new float[_totalCellsBig]; + float *bigUz = new float[_totalCellsBig]; + float *_energy = new float[_totalCellsSm]; + float *highFreqEnergy = new float[_totalCellsSm]; + float *eigMin = new float[_totalCellsSm]; + float *eigMax = new float[_totalCellsSm]; + + memset(tempBig1, 0, sizeof(float)*_totalCellsBig); + memset(tempBig2, 0, sizeof(float)*_totalCellsBig); + memset(highFreqEnergy, 0, sizeof(float)*_totalCellsSm); + memset(eigMin, 0, sizeof(float)*_totalCellsSm); + memset(eigMax, 0, sizeof(float)*_totalCellsSm); + + // prepare textures + advectTextureCoordinates(dtOrg, xvel,yvel,zvel, tempBig1, tempBig2); + + // compute eigenvalues of the texture coordinates + computeEigenvalues(eigMin, eigMax); + + // do wavelet decomposition of energy + computeEnergy(_energy, xvel, yvel, zvel, obstacles); + decomposeEnergy(_energy, highFreqEnergy); + + // zero out coefficients inside of the obstacle + for (int x = 0; x < _totalCellsSm; x++) + if (obstacles[x]) _energy[x] = 0.f; + + float maxVelocity = 0.; + for (int z = 1; z < _zResBig - 1; z++) + for (int y = 1; y < _yResBig - 1; y++) + for (int x = 1; x < _xResBig - 1; x++) + { + // get unit position for both fine and coarse grid + const Vec3 pos = Vec3(x,y,z); + const Vec3 posSm = pos * invAmp; + + // get grid index for both fine and coarse grid + const int index = x + y *_xResBig + z *_slabSizeBig; + const int indexSmall = (int)posSm[0] + (int)posSm[1] * _xResSm + (int)posSm[2] * _slabSizeSm; + + // get a linearly interpolated velocity and texcoords + // from the coarse grid + Vec3 vel = INTERPOLATE::lerp3dVec( xvel,yvel,zvel, + posSm[0], posSm[1], posSm[2], _xResSm,_yResSm,_zResSm); + Vec3 uvw = INTERPOLATE::lerp3dVec( _tcU,_tcV,_tcW, + posSm[0], posSm[1], posSm[2], _xResSm,_yResSm,_zResSm); + + // multiply the texture coordinate by _resSm so that turbulence + // synthesis begins at the first octave that the coarse grid + // cannot capture + Vec3 texCoord = Vec3(uvw[0] * _resSm[0], + uvw[1] * _resSm[1], + uvw[2] * _resSm[2]); + + // retrieve wavelet energy at highest frequency + float energy = INTERPOLATE::lerp3d( + highFreqEnergy, posSm[0],posSm[1],posSm[2], _xResSm, _yResSm, _zResSm); + + // base amplitude for octave 0 + float coefficient = sqrtf(2.0f * fabs(energy)); + const float amplitude = *_strength * fabs(0.5 * coefficient) * persistence; + + // add noise to velocity, but only if the turbulence is + // sufficiently undeformed, and the energy is large enough + // to make a difference + const bool addNoise = eigMax[indexSmall] < 2. && + eigMin[indexSmall] > 0.5; + if (addNoise && amplitude > _cullingThreshold) { + // base amplitude for octave 0 + float amplitudeScaled = amplitude; + + for (int octave = 0; octave < _octaves; octave++) + { + // multiply the vector noise times the maximum allowed + // noise amplitude at this octave, and add it to the total + vel += WVelocity(texCoord) * amplitudeScaled; + + // scale coefficient for next octave + amplitudeScaled *= persistence; + texCoord *= 2.0f; + } + } + + // Store velocity + turbulence in big grid for maccormack step + // + // If you wanted to save memory, you would instead perform a + // semi-Lagrangian backtrace for the current grid cell here. Then + // you could just throw the velocity away. + bigUx[index] = vel[0]; + bigUy[index] = vel[1]; + bigUz[index] = vel[2]; + + // compute the velocity magnitude for substepping later + const float velMag = bigUx[index] * bigUx[index] + + bigUy[index] * bigUy[index] + + bigUz[index] * bigUz[index]; + if (velMag > maxVelocity) maxVelocity = velMag; + + // zero out velocity inside obstacles + float obsCheck = INTERPOLATE::lerp3dToFloat( + obstacles, posSm[0], posSm[1], posSm[2], _xResSm, _yResSm, _zResSm); + if (obsCheck > 0.95) + bigUx[index] = bigUy[index] = bigUz[index] = 0.; + } + + // prepare density for an advection + SWAP_POINTERS(_densityBig, _densityBigOld); + + // based on the maximum velocity present, see if we need to substep, + // but cap the maximum number of substeps to 5 + const int maxSubSteps = 5; + maxVelocity = sqrt(maxVelocity) * dt; + int totalSubsteps = (int)(maxVelocity / (float)maxSubSteps); + totalSubsteps = (totalSubsteps < 1) ? 1 : totalSubsteps; + totalSubsteps = (totalSubsteps > maxSubSteps) ? maxSubSteps : totalSubsteps; + const float dtSubdiv = dt / (float)totalSubsteps; + + // set boundaries of big velocity grid + FLUID_3D::setZeroX(bigUx, _resBig); + FLUID_3D::setZeroY(bigUy, _resBig); + FLUID_3D::setZeroZ(bigUz, _resBig); + + // do the MacCormack advection, with substepping if necessary + for(int substep = 0; substep < totalSubsteps; substep++) + { + FLUID_3D::advectFieldMacCormack(dtSubdiv, bigUx, bigUy, bigUz, + _densityBigOld, _densityBig, tempBig1, tempBig2, _resBig, NULL); + + if (substep < totalSubsteps - 1) + SWAP_POINTERS(_densityBig, _densityBigOld); + } // substep + + // wipe the density borders + FLUID_3D::setZeroBorder(_densityBig, _resBig); + + // reset texture coordinates now in preparation for next timestep + // Shouldn't do this before generating the noise because then the + // eigenvalues stored do not reflect the underlying texture coordinates + resetTextureCoordinates(eigMin, eigMax); + + delete[] tempBig1; + delete[] tempBig2; + delete[] bigUx; + delete[] bigUy; + delete[] bigUz; + delete[] _energy; + delete[] highFreqEnergy; + + delete[] eigMin; + delete[] eigMax; + + + _totalStepsBig++; +} + +////////////////////////////////////////////////////////////////////// +// perform the full turbulence algorithm, including OpenMP +// if available +////////////////////////////////////////////////////////////////////// +void WTURBULENCE::stepTurbulenceFull(float dtOrg, float* xvel, float* yvel, float* zvel, unsigned char *obstacles) +{ + // enlarge timestep to match grid + const float dt = dtOrg * _amplify; + const float invAmp = 1.0f / _amplify; + float *tempBig1 = new float[_totalCellsBig]; + float *tempBig2 = new float[_totalCellsBig]; + float *bigUx = new float[_totalCellsBig]; + float *bigUy = new float[_totalCellsBig]; + float *bigUz = new float[_totalCellsBig]; + float *_energy = new float[_totalCellsSm]; + float *highFreqEnergy = new float[_totalCellsSm]; + float *eigMin = new float[_totalCellsSm]; + float *eigMax = new float[_totalCellsSm]; + + memset(highFreqEnergy, 0, sizeof(float)*_totalCellsSm); + memset(eigMin, 0, sizeof(float)*_totalCellsSm); + memset(eigMax, 0, sizeof(float)*_totalCellsSm); + + // prepare textures + advectTextureCoordinates(dtOrg, xvel,yvel,zvel, tempBig1, tempBig2); + + // do wavelet decomposition of energy + computeEnergy(_energy, xvel, yvel, zvel, obstacles); + + for (int x = 0; x < _totalCellsSm; x++) + if (obstacles[x]) _energy[x] = 0.f; + + decomposeEnergy(_energy, highFreqEnergy); + + // zero out coefficients inside of the obstacle + for (int x = 0; x < _totalCellsSm; x++) + if (obstacles[x]) highFreqEnergy[x] = 0.f; + + Vec3Int ressm(_xResSm, _yResSm, _zResSm); + FLUID_3D::setNeumannX(highFreqEnergy, ressm); + FLUID_3D::setNeumannY(highFreqEnergy, ressm); + FLUID_3D::setNeumannZ(highFreqEnergy, ressm); + + // parallel region setup + float maxVelMagThreads[8] = { -1., -1., -1., -1., -1., -1., -1., -1. }; +#if PARALLEL==1 +#pragma omp parallel +#endif + { float maxVelMag1 = 0.; +#if PARALLEL==1 + const int id = omp_get_thread_num(); /*, num = omp_get_num_threads(); */ +#endif + + // vector noise main loop +#if PARALLEL==1 +#pragma omp for schedule(static) +#endif + for (int zSmall = 0; zSmall < _zResSm; zSmall++) + for (int ySmall = 0; ySmall < _yResSm; ySmall++) + for (int xSmall = 0; xSmall < _xResSm; xSmall++) + { + const int indexSmall = xSmall + ySmall * _xResSm + zSmall * _slabSizeSm; + + // compute jacobian + float jacobian[3][3] = { + { minDx(xSmall, ySmall, zSmall, _tcU, _resSm), minDx(xSmall, ySmall, zSmall, _tcV, _resSm), minDx(xSmall, ySmall, zSmall, _tcW, _resSm) } , + { minDy(xSmall, ySmall, zSmall, _tcU, _resSm), minDy(xSmall, ySmall, zSmall, _tcV, _resSm), minDy(xSmall, ySmall, zSmall, _tcW, _resSm) } , + { minDz(xSmall, ySmall, zSmall, _tcU, _resSm), minDz(xSmall, ySmall, zSmall, _tcV, _resSm), minDz(xSmall, ySmall, zSmall, _tcW, _resSm) } + }; + + // get LU factorization of texture jacobian and apply + // it to unit vectors + JAMA::LU<float> LU = computeLU3x3(jacobian); + float xUnwarped[] = {1.0f, 0.0f, 0.0f}; + float yUnwarped[] = {0.0f, 1.0f, 0.0f}; + float zUnwarped[] = {0.0f, 0.0f, 1.0f}; + float xWarped[] = {1.0f, 0.0f, 0.0f}; + float yWarped[] = {0.0f, 1.0f, 0.0f}; + float zWarped[] = {0.0f, 0.0f, 1.0f}; + bool nonSingular = LU.isNonsingular(); +#if 0 + // UNUSED + float eigMax = 10.0f; + float eigMin = 0.1f; +#endif + if (nonSingular) + { + solveLU3x3(LU, xUnwarped, xWarped); + solveLU3x3(LU, yUnwarped, yWarped); + solveLU3x3(LU, zUnwarped, zWarped); + + // compute the eigenvalues while we have the Jacobian available + Vec3 eigenvalues = Vec3(1.); + computeEigenvalues3x3( &eigenvalues[0], jacobian); + eigMax[indexSmall] = MAX3V(eigenvalues); + eigMin[indexSmall] = MIN3V(eigenvalues); + } + + // make sure to skip one on the beginning and end + int xStart = (xSmall == 0) ? 1 : 0; + int xEnd = (xSmall == _xResSm - 1) ? _amplify - 1 : _amplify; + int yStart = (ySmall == 0) ? 1 : 0; + int yEnd = (ySmall == _yResSm - 1) ? _amplify - 1 : _amplify; + int zStart = (zSmall == 0) ? 1 : 0; + int zEnd = (zSmall == _zResSm - 1) ? _amplify - 1 : _amplify; + + for (int zBig = zStart; zBig < zEnd; zBig++) + for (int yBig = yStart; yBig < yEnd; yBig++) + for (int xBig = xStart; xBig < xEnd; xBig++) + { + const int x = xSmall * _amplify + xBig; + const int y = ySmall * _amplify + yBig; + const int z = zSmall * _amplify + zBig; + + // get unit position for both fine and coarse grid + const Vec3 pos = Vec3(x,y,z); + const Vec3 posSm = pos * invAmp; + + // get grid index for both fine and coarse grid + const int index = x + y *_xResBig + z *_slabSizeBig; + + // get a linearly interpolated velocity and texcoords + // from the coarse grid + Vec3 vel = INTERPOLATE::lerp3dVec( xvel,yvel,zvel, + posSm[0], posSm[1], posSm[2], _xResSm,_yResSm,_zResSm); + Vec3 uvw = INTERPOLATE::lerp3dVec( _tcU,_tcV,_tcW, + posSm[0], posSm[1], posSm[2], _xResSm,_yResSm,_zResSm); + + // multiply the texture coordinate by _resSm so that turbulence + // synthesis begins at the first octave that the coarse grid + // cannot capture + Vec3 texCoord = Vec3(uvw[0] * _resSm[0], + uvw[1] * _resSm[1], + uvw[2] * _resSm[2]); + + // retrieve wavelet energy at highest frequency + float energy = INTERPOLATE::lerp3d( + highFreqEnergy, posSm[0],posSm[1],posSm[2], _xResSm, _yResSm, _zResSm); + + // base amplitude for octave 0 + float coefficient = sqrtf(2.0f * fabs(energy)); + const float amplitude = *_strength * fabs(0.5 * coefficient) * persistence; + + // add noise to velocity, but only if the turbulence is + // sufficiently undeformed, and the energy is large enough + // to make a difference + const bool addNoise = eigMax[indexSmall] < 2. && + eigMin[indexSmall] > 0.5; + if (addNoise && amplitude > _cullingThreshold) { + // base amplitude for octave 0 + float amplitudeScaled = amplitude; + + for (int octave = 0; octave < _octaves; octave++) + { + // multiply the vector noise times the maximum allowed + // noise amplitude at this octave, and add it to the total + vel += WVelocityWithJacobian(texCoord, &xUnwarped[0], &yUnwarped[0], &zUnwarped[0]) * amplitudeScaled; + + // scale coefficient for next octave + amplitudeScaled *= persistence; + texCoord *= 2.0f; + } + } + + // Store velocity + turbulence in big grid for maccormack step + // + // If you wanted to save memory, you would instead perform a + // semi-Lagrangian backtrace for the current grid cell here. Then + // you could just throw the velocity away. + bigUx[index] = vel[0]; + bigUy[index] = vel[1]; + bigUz[index] = vel[2]; + + // compute the velocity magnitude for substepping later + const float velMag = bigUx[index] * bigUx[index] + + bigUy[index] * bigUy[index] + + bigUz[index] * bigUz[index]; + if (velMag > maxVelMag1) maxVelMag1 = velMag; + + // zero out velocity inside obstacles + float obsCheck = INTERPOLATE::lerp3dToFloat( + obstacles, posSm[0], posSm[1], posSm[2], _xResSm, _yResSm, _zResSm); + if (obsCheck > 0.95) + bigUx[index] = bigUy[index] = bigUz[index] = 0.; + } // xyz + +#if PARALLEL==1 + maxVelMagThreads[id] = maxVelMag1; +#else + maxVelMagThreads[0] = maxVelMag1; +#endif + } + } // omp + + // compute maximum over threads + float maxVelMag = maxVelMagThreads[0]; +#if PARALLEL==1 + for (int i = 1; i < 8; i++) + if (maxVelMag < maxVelMagThreads[i]) + maxVelMag = maxVelMagThreads[i]; +#endif + + // prepare density for an advection + SWAP_POINTERS(_densityBig, _densityBigOld); + + // based on the maximum velocity present, see if we need to substep, + // but cap the maximum number of substeps to 5 + const int maxSubSteps = 25; + const int maxVel = 5; + maxVelMag = sqrt(maxVelMag) * dt; + int totalSubsteps = (int)(maxVelMag / (float)maxVel); + totalSubsteps = (totalSubsteps < 1) ? 1 : totalSubsteps; + // printf("totalSubsteps: %d\n", totalSubsteps); + totalSubsteps = (totalSubsteps > maxSubSteps) ? maxSubSteps : totalSubsteps; + const float dtSubdiv = dt / (float)totalSubsteps; + + // set boundaries of big velocity grid + FLUID_3D::setZeroX(bigUx, _resBig); + FLUID_3D::setZeroY(bigUy, _resBig); + FLUID_3D::setZeroZ(bigUz, _resBig); + + // do the MacCormack advection, with substepping if necessary + for(int substep = 0; substep < totalSubsteps; substep++) + { + FLUID_3D::advectFieldMacCormack(dtSubdiv, bigUx, bigUy, bigUz, + _densityBigOld, _densityBig, tempBig1, tempBig2, _resBig, NULL); + + if (substep < totalSubsteps - 1) + SWAP_POINTERS(_densityBig, _densityBigOld); + } // substep + + delete[] tempBig1; + delete[] tempBig2; + delete[] bigUx; + delete[] bigUy; + delete[] bigUz; + delete[] _energy; + delete[] highFreqEnergy; + + // wipe the density borders + FLUID_3D::setZeroBorder(_densityBig, _resBig); + + // reset texture coordinates now in preparation for next timestep + // Shouldn't do this before generating the noise because then the + // eigenvalues stored do not reflect the underlying texture coordinates + resetTextureCoordinates(eigMin, eigMax); + + delete[] eigMin; + delete[] eigMax; + + // output files + // string prefix = string("./amplified.preview/density_bigxy_"); + // FLUID_3D::writeImageSliceXY(_densityBig, _resBig, _resBig[2]/2, prefix, _totalStepsBig, 1.0f); + //string df3prefix = string("./df3/density_big_"); + //IMAGE::dumpDF3(_totalStepsBig, df3prefix, _densityBig, _resBig[0],_resBig[1],_resBig[2]); + // string pbrtPrefix = string("./pbrt/density_big_"); + // IMAGE::dumpPBRT(_totalStepsBig, pbrtPrefix, _densityBig, _resBig[0],_resBig[1],_resBig[2]); + + _totalStepsBig++; +} diff --git a/intern/smoke/intern/WTURBULENCE.h b/intern/smoke/intern/WTURBULENCE.h new file mode 100644 index 00000000000..0aa978e9e52 --- /dev/null +++ b/intern/smoke/intern/WTURBULENCE.h @@ -0,0 +1,130 @@ +////////////////////////////////////////////////////////////////////// +// This file is part of Wavelet Turbulence. +// +// Wavelet Turbulence is free software: you can redistribute it and/or modify +// it under the terms of the GNU General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// Wavelet Turbulence is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with Wavelet Turbulence. If not, see <http://www.gnu.org/licenses/>. +// +// Copyright 2008 Theodore Kim and Nils Thuerey +// +// WTURBULENCE handling +/////////////////////////////////////////////////////////////////////////////////// + +#ifndef WTURBULENCE_H +#define WTURBULENCE_H + +#include "VEC3.h" +using namespace BasicVector; +class SIMPLE_PARSER; + +/////////////////////////////////////////////////////////////////////////////// +/// Main WTURBULENCE class, stores large density array etc. +/////////////////////////////////////////////////////////////////////////////// +class WTURBULENCE +{ + public: + // both config files can be NULL, altCfg might override values from noiseCfg + WTURBULENCE(int xResSm, int yResSm, int zResSm, int amplify, int noisetype); + + /// destructor + virtual ~WTURBULENCE(); + + void setNoise(int type); + void initBlenderRNA(float *strength); + + // step more readable version -- no rotation correction + void stepTurbulenceReadable(float dt, float* xvel, float* yvel, float* zvel, unsigned char *obstacles); + + // step more complete version -- include rotation correction + // and use OpenMP if available + void stepTurbulenceFull(float dt, float* xvel, float* yvel, float* zvel, unsigned char *obstacles); + + // texcoord functions + void advectTextureCoordinates(float dtOrg, float* xvel, float* yvel, float* zvel, float *tempBig1, float *tempBig2); + void resetTextureCoordinates(float *_eigMin, float *_eigMax); + + void computeEnergy(float *energy, float* xvel, float* yvel, float* zvel, unsigned char *obstacles); + + // evaluate wavelet noise function + Vec3 WVelocity(Vec3 p); + Vec3 WVelocityWithJacobian(Vec3 p, float* xUnwarped, float* yUnwarped, float* zUnwarped); + + // access functions + inline float* getDensityBig() { return _densityBig; } + inline float* getArrayTcU() { return _tcU; } + inline float* getArrayTcV() { return _tcV; } + inline float* getArrayTcW() { return _tcW; } + + inline Vec3Int getResSm() { return _resSm; } // small resolution + inline Vec3Int getResBig() { return _resBig; } + inline int getOctaves() { return _octaves; } + + // is accessed on through rna gui + float *_strength; + + // protected: + // enlargement factor from original velocity field / simulation + // _Big = _amplify * _Sm + int _amplify; + int _octaves; + + // noise settings + float _cullingThreshold; + // float _noiseStrength; + // float _noiseSizeScale; + // bool _uvwAdvection; + // bool _uvwReset; + // float _noiseTimeanimSpeed; + // int _dumpInterval; + // nt _noiseControlType; + // debug, scale density for projections output images + // float _outputScale; + + // noise resolution + int _xResBig; + int _yResBig; + int _zResBig; + Vec3Int _resBig; + Vec3 _invResBig; + int _totalCellsBig; + int _slabSizeBig; + // original / small resolution + int _xResSm; + int _yResSm; + int _zResSm; + Vec3Int _resSm; + Vec3 _invResSm; + int _totalCellsSm; + int _slabSizeSm; + + float* _densityBig; + float* _densityBigOld; + + // texture coordinates for noise + float* _tcU; + float* _tcV; + float* _tcW; + float* _tcTemp; + + // noise data + float* _noiseTile; + //float* _noiseTileExt; + + // step counter + int _totalStepsBig; + + void computeEigenvalues(float *_eigMin, float *_eigMax); + void decomposeEnergy(float *energy, float *_highFreqEnergy); +}; + +#endif // WTURBULENCE_H + diff --git a/intern/smoke/intern/smoke_API.cpp b/intern/smoke/intern/smoke_API.cpp new file mode 100644 index 00000000000..67df6e805d8 --- /dev/null +++ b/intern/smoke/intern/smoke_API.cpp @@ -0,0 +1,262 @@ +/** + * $Id$ + * + * ***** BEGIN GPL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * The Original Code is Copyright (C) 2009 by Daniel Genrich + * All rights reserved. + * + * Contributor(s): Daniel Genrich + * + * ***** END GPL LICENSE BLOCK ***** + */ + +#include "FLUID_3D.h" +#include "WTURBULENCE.h" + +#include <stdio.h> +#include <stdlib.h> + +// y in smoke is z in blender +extern "C" FLUID_3D *smoke_init(int *res, float *p0, float dt) +{ + // smoke lib uses y as top-bottom/vertical axis where blender uses z + FLUID_3D *fluid = new FLUID_3D(res, p0, dt); + + // printf("xres: %d, yres: %d, zres: %d\n", res[0], res[1], res[2]); + + return fluid; +} + +extern "C" WTURBULENCE *smoke_turbulence_init(int *res, int amplify, int noisetype) +{ + // initialize wavelet turbulence + if(amplify) + return new WTURBULENCE(res[0],res[1],res[2], amplify, noisetype); + else + return NULL; +} + +extern "C" void smoke_free(FLUID_3D *fluid) +{ + delete fluid; + fluid = NULL; +} + +extern "C" void smoke_turbulence_free(WTURBULENCE *wt) +{ + delete wt; + wt = NULL; +} + +extern "C" size_t smoke_get_index(int x, int max_x, int y, int max_y, int z /*, int max_z */) +{ + // // const int index = x + y * smd->res[0] + z * smd->res[0]*smd->res[1]; + return x + y * max_x + z * max_x*max_y; +} + +extern "C" size_t smoke_get_index2d(int x, int max_x, int y /*, int max_y, int z, int max_z */) +{ + return x + y * max_x; +} + +extern "C" void smoke_step(FLUID_3D *fluid, size_t framenr) +{ + fluid->step(); +} + +extern "C" void smoke_turbulence_step(WTURBULENCE *wt, FLUID_3D *fluid) +{ + wt->stepTurbulenceFull(fluid->_dt/fluid->_dx, fluid->_xVelocity, fluid->_yVelocity, fluid->_zVelocity, fluid->_obstacles); +} + +extern "C" void smoke_initBlenderRNA(FLUID_3D *fluid, float *alpha, float *beta) +{ + fluid->initBlenderRNA(alpha, beta); +} + +extern "C" void smoke_dissolve(FLUID_3D *fluid, int speed, int log) +{ + float *density = fluid->_density; + //float *densityOld = fluid->_densityOld; + float *heat = fluid->_heat; + + if(log) + { + /* max density/speed = dydx */ + float dydx = 1.0 / (float)speed; + size_t size= fluid->_xRes * fluid->_yRes * fluid->_zRes; + + for(size_t i = 0; i < size; i++) + { + density[i] *= (1.0 - dydx); + + if(density[i] < 0.0f) + density[i] = 0.0f; + + heat[i] *= (1.0 - dydx); + + if(heat[i] < 0.0f) + heat[i] = 0.0f; + } + } + else // linear falloff + { + /* max density/speed = dydx */ + float dydx = 1.0 / (float)speed; + size_t size= fluid->_xRes * fluid->_yRes * fluid->_zRes; + + for(size_t i = 0; i < size; i++) + { + density[i] -= dydx; + + if(density[i] < 0.0f) + density[i] = 0.0f; + + heat[i] -= dydx; + + if(heat[i] < 0.0f) + heat[i] = 0.0f; + + } + } +} + +extern "C" void smoke_dissolve_wavelet(WTURBULENCE *wt, int speed, int log) +{ + float *density = wt->getDensityBig(); + Vec3Int r = wt->getResBig(); + + if(log) + { + /* max density/speed = dydx */ + float dydx = 1.0 / (float)speed; + size_t size= r[0] * r[1] * r[2]; + + for(size_t i = 0; i < size; i++) + { + density[i] *= (1.0 - dydx); + + if(density[i] < 0.0f) + density[i] = 0.0f; + } + } + else // linear falloff + { + /* max density/speed = dydx */ + float dydx = 1.0 / (float)speed; + size_t size= r[0] * r[1] * r[2]; + + for(size_t i = 0; i < size; i++) + { + density[i] -= dydx; + + if(density[i] < 0.0f) + density[i] = 0.0f; + } + } +} + +extern "C" void smoke_initWaveletBlenderRNA(WTURBULENCE *wt, float *strength) +{ + wt->initBlenderRNA(strength); +} + +template < class T > inline T ABS( T a ) { + return (0 < a) ? a : -a ; +} + +extern "C" void smoke_export(FLUID_3D *fluid, float *dt, float *dx, float **dens, float **densold, float **heat, float **heatold, float **vx, float **vy, float **vz, float **vxold, float **vyold, float **vzold, unsigned char **obstacles) +{ + *dens = fluid->_density; + *densold = fluid->_densityOld; + *heat = fluid->_heat; + *heatold = fluid->_heatOld; + *vx = fluid->_xVelocity; + *vy = fluid->_yVelocity; + *vz = fluid->_zVelocity; + *vxold = fluid->_xVelocityOld; + *vyold = fluid->_yVelocityOld; + *vzold = fluid->_zVelocityOld; + *obstacles = fluid->_obstacles; + dt = &(fluid->_dt); + dx = &(fluid->_dx); + +} + +extern "C" void smoke_turbulence_export(WTURBULENCE *wt, float **dens, float **densold, float **tcu, float **tcv, float **tcw) +{ + if(!wt) + return; + + *dens = wt->_densityBig; + *densold = wt->_densityBigOld; + *tcu = wt->_tcU; + *tcv = wt->_tcV; + *tcw = wt->_tcW; +} + +extern "C" float *smoke_get_density(FLUID_3D *fluid) +{ + return fluid->_density; +} + +extern "C" float *smoke_get_heat(FLUID_3D *fluid) +{ + return fluid->_heat; +} + +extern "C" float *smoke_get_velocity_x(FLUID_3D *fluid) +{ + return fluid->_xVelocity; +} + +extern "C" float *smoke_get_velocity_y(FLUID_3D *fluid) +{ + return fluid->_yVelocity; +} + +extern "C" float *smoke_get_velocity_z(FLUID_3D *fluid) +{ + return fluid->_zVelocity; +} + +extern "C" float *smoke_turbulence_get_density(WTURBULENCE *wt) +{ + return wt ? wt->getDensityBig() : NULL; +} + +extern "C" void smoke_turbulence_get_res(WTURBULENCE *wt, int *res) +{ + if(wt) + { + Vec3Int r = wt->getResBig(); + res[0] = r[0]; + res[1] = r[1]; + res[2] = r[2]; + } +} + +extern "C" unsigned char *smoke_get_obstacle(FLUID_3D *fluid) +{ + return fluid->_obstacles; +} + +extern "C" void smoke_turbulence_set_noise(WTURBULENCE *wt, int type) +{ + wt->setNoise(type); +} diff --git a/intern/smoke/intern/tnt/jama_eig.h b/intern/smoke/intern/tnt/jama_eig.h new file mode 100644 index 00000000000..0d833be56de --- /dev/null +++ b/intern/smoke/intern/tnt/jama_eig.h @@ -0,0 +1,1050 @@ +#ifndef JAMA_EIG_H +#define JAMA_EIG_H + + +#include "tnt_array1d.h" +#include "tnt_array2d.h" +#include "tnt_math_utils.h" + +#include <algorithm> +// for min(), max() below + +#include <cmath> +// for fabs() below + +using namespace TNT; +using namespace std; + +// NT debugging +//static int gEigenDebug=0; +//if(gEigenDebug) std::cerr<<"n="<<n<<" m="<<m<<" l="<<l<<"\n"; +// m has to be smaller l! in line 262 +// gcc can get confused with abs calls, replaced by fabs + +namespace JAMA +{ + +/** + + Computes eigenvalues and eigenvectors of a real (non-complex) + matrix. +<P> + If A is symmetric, then A = V*D*V' where the eigenvalue matrix D is + diagonal and the eigenvector matrix V is orthogonal. That is, + the diagonal values of D are the eigenvalues, and + V*V' = I, where I is the identity matrix. The columns of V + represent the eigenvectors in the sense that A*V = V*D. + +<P> + If A is not symmetric, then the eigenvalue matrix D is block diagonal + with the real eigenvalues in 1-by-1 blocks and any complex eigenvalues, + a + i*b, in 2-by-2 blocks, [a, b; -b, a]. That is, if the complex + eigenvalues look like +<pre> + + u + iv . . . . . + . u - iv . . . . + . . a + ib . . . + . . . a - ib . . + . . . . x . + . . . . . y +</pre> + then D looks like +<pre> + + u v . . . . + -v u . . . . + . . a b . . + . . -b a . . + . . . . x . + . . . . . y +</pre> + This keeps V a real matrix in both symmetric and non-symmetric + cases, and A*V = V*D. + + + + <p> + The matrix V may be badly + conditioned, or even singular, so the validity of the equation + A = V*D*inverse(V) depends upon the condition number of V. + + <p> + (Adapted from JAMA, a Java Matrix Library, developed by jointly + by the Mathworks and NIST; see http://math.nist.gov/javanumerics/jama). +**/ + +template <class Real> +class Eigenvalue +{ + + + /** Row and column dimension (square matrix). */ + int n; + + int issymmetric; /* boolean*/ + + /** Arrays for internal storage of eigenvalues. */ + + TNT::Array1D<Real> d; /* real part */ + TNT::Array1D<Real> e; /* img part */ + + /** Array for internal storage of eigenvectors. */ + TNT::Array2D<Real> V; + + /** Array for internal storage of nonsymmetric Hessenberg form. + @serial internal storage of nonsymmetric Hessenberg form. + */ + TNT::Array2D<Real> H; + + + /** Working storage for nonsymmetric algorithm. + @serial working storage for nonsymmetric algorithm. + */ + TNT::Array1D<Real> ort; + + + // Symmetric Householder reduction to tridiagonal form. + + void tred2() { + + // This is derived from the Algol procedures tred2 by + // Bowdler, Martin, Reinsch, and Wilkinson, Handbook for + // Auto. Comp., Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutine in EISPACK. + + for (int j = 0; j < n; j++) { + d[j] = V[n-1][j]; + } + + // Householder reduction to tridiagonal form. + + for (int i = n-1; i > 0; i--) { + + // Scale to avoid under/overflow. + + Real scale = 0.0; + Real h = 0.0; + for (int k = 0; k < i; k++) { + scale = scale + fabs(d[k]); + } + if (scale == 0.0) { + e[i] = d[i-1]; + for (int j = 0; j < i; j++) { + d[j] = V[i-1][j]; + V[i][j] = 0.0; + V[j][i] = 0.0; + } + } else { + + // Generate Householder vector. + + for (int k = 0; k < i; k++) { + d[k] /= scale; + h += d[k] * d[k]; + } + Real f = d[i-1]; + Real g = sqrt(h); + if (f > 0) { + g = -g; + } + e[i] = scale * g; + h = h - f * g; + d[i-1] = f - g; + for (int j = 0; j < i; j++) { + e[j] = 0.0; + } + + // Apply similarity transformation to remaining columns. + + for (int j = 0; j < i; j++) { + f = d[j]; + V[j][i] = f; + g = e[j] + V[j][j] * f; + for (int k = j+1; k <= i-1; k++) { + g += V[k][j] * d[k]; + e[k] += V[k][j] * f; + } + e[j] = g; + } + f = 0.0; + for (int j = 0; j < i; j++) { + e[j] /= h; + f += e[j] * d[j]; + } + Real hh = f / (h + h); + for (int j = 0; j < i; j++) { + e[j] -= hh * d[j]; + } + for (int j = 0; j < i; j++) { + f = d[j]; + g = e[j]; + for (int k = j; k <= i-1; k++) { + V[k][j] -= (f * e[k] + g * d[k]); + } + d[j] = V[i-1][j]; + V[i][j] = 0.0; + } + } + d[i] = h; + } + + // Accumulate transformations. + + for (int i = 0; i < n-1; i++) { + V[n-1][i] = V[i][i]; + V[i][i] = 1.0; + Real h = d[i+1]; + if (h != 0.0) { + for (int k = 0; k <= i; k++) { + d[k] = V[k][i+1] / h; + } + for (int j = 0; j <= i; j++) { + Real g = 0.0; + for (int k = 0; k <= i; k++) { + g += V[k][i+1] * V[k][j]; + } + for (int k = 0; k <= i; k++) { + V[k][j] -= g * d[k]; + } + } + } + for (int k = 0; k <= i; k++) { + V[k][i+1] = 0.0; + } + } + for (int j = 0; j < n; j++) { + d[j] = V[n-1][j]; + V[n-1][j] = 0.0; + } + V[n-1][n-1] = 1.0; + e[0] = 0.0; + } + + // Symmetric tridiagonal QL algorithm. + + void tql2 () { + + // This is derived from the Algol procedures tql2, by + // Bowdler, Martin, Reinsch, and Wilkinson, Handbook for + // Auto. Comp., Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutine in EISPACK. + + for (int i = 1; i < n; i++) { + e[i-1] = e[i]; + } + e[n-1] = 0.0; + + Real f = 0.0; + Real tst1 = 0.0; + Real eps = pow(2.0,-52.0); + for (int l = 0; l < n; l++) { + + // Find small subdiagonal element + + tst1 = max(tst1,fabs(d[l]) + fabs(e[l])); + int m = l; + + // Original while-loop from Java code + while (m < n) { + if (fabs(e[m]) <= eps*tst1) { + break; + } + m++; + } + + + // If m == l, d[l] is an eigenvalue, + // otherwise, iterate. + + if (m > l) { + int iter = 0; + do { + iter = iter + 1; // (Could check iteration count here.) + + // Compute implicit shift + + Real g = d[l]; + Real p = (d[l+1] - g) / (2.0 * e[l]); + Real r = hypot(p,1.0); + if (p < 0) { + r = -r; + } + d[l] = e[l] / (p + r); + d[l+1] = e[l] * (p + r); + Real dl1 = d[l+1]; + Real h = g - d[l]; + for (int i = l+2; i < n; i++) { + d[i] -= h; + } + f = f + h; + + // Implicit QL transformation. + + p = d[m]; + Real c = 1.0; + Real c2 = c; + Real c3 = c; + Real el1 = e[l+1]; + Real s = 0.0; + Real s2 = 0.0; + for (int i = m-1; i >= l; i--) { + c3 = c2; + c2 = c; + s2 = s; + g = c * e[i]; + h = c * p; + r = hypot(p,e[i]); + e[i+1] = s * r; + s = e[i] / r; + c = p / r; + p = c * d[i] - s * g; + d[i+1] = h + s * (c * g + s * d[i]); + + // Accumulate transformation. + + for (int k = 0; k < n; k++) { + h = V[k][i+1]; + V[k][i+1] = s * V[k][i] + c * h; + V[k][i] = c * V[k][i] - s * h; + } + } + p = -s * s2 * c3 * el1 * e[l] / dl1; + e[l] = s * p; + d[l] = c * p; + + // Check for convergence. + + } while (fabs(e[l]) > eps*tst1); + } + d[l] = d[l] + f; + e[l] = 0.0; + } + + // Sort eigenvalues and corresponding vectors. + + for (int i = 0; i < n-1; i++) { + int k = i; + Real p = d[i]; + for (int j = i+1; j < n; j++) { + if (d[j] < p) { + k = j; + p = d[j]; + } + } + if (k != i) { + d[k] = d[i]; + d[i] = p; + for (int j = 0; j < n; j++) { + p = V[j][i]; + V[j][i] = V[j][k]; + V[j][k] = p; + } + } + } + } + + // Nonsymmetric reduction to Hessenberg form. + + void orthes () { + + // This is derived from the Algol procedures orthes and ortran, + // by Martin and Wilkinson, Handbook for Auto. Comp., + // Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutines in EISPACK. + + int low = 0; + int high = n-1; + + for (int m = low+1; m <= high-1; m++) { + + // Scale column. + + Real scale = 0.0; + for (int i = m; i <= high; i++) { + scale = scale + fabs(H[i][m-1]); + } + if (scale != 0.0) { + + // Compute Householder transformation. + + Real h = 0.0; + for (int i = high; i >= m; i--) { + ort[i] = H[i][m-1]/scale; + h += ort[i] * ort[i]; + } + Real g = sqrt(h); + if (ort[m] > 0) { + g = -g; + } + h = h - ort[m] * g; + ort[m] = ort[m] - g; + + // Apply Householder similarity transformation + // H = (I-u*u'/h)*H*(I-u*u')/h) + + for (int j = m; j < n; j++) { + Real f = 0.0; + for (int i = high; i >= m; i--) { + f += ort[i]*H[i][j]; + } + f = f/h; + for (int i = m; i <= high; i++) { + H[i][j] -= f*ort[i]; + } + } + + for (int i = 0; i <= high; i++) { + Real f = 0.0; + for (int j = high; j >= m; j--) { + f += ort[j]*H[i][j]; + } + f = f/h; + for (int j = m; j <= high; j++) { + H[i][j] -= f*ort[j]; + } + } + ort[m] = scale*ort[m]; + H[m][m-1] = scale*g; + } + } + + // Accumulate transformations (Algol's ortran). + + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + V[i][j] = (i == j ? 1.0 : 0.0); + } + } + + for (int m = high-1; m >= low+1; m--) { + if (H[m][m-1] != 0.0) { + for (int i = m+1; i <= high; i++) { + ort[i] = H[i][m-1]; + } + for (int j = m; j <= high; j++) { + Real g = 0.0; + for (int i = m; i <= high; i++) { + g += ort[i] * V[i][j]; + } + // Double division avoids possible underflow + g = (g / ort[m]) / H[m][m-1]; + for (int i = m; i <= high; i++) { + V[i][j] += g * ort[i]; + } + } + } + } + } + + + // Complex scalar division. + + Real cdivr, cdivi; + void cdiv(Real xr, Real xi, Real yr, Real yi) { + Real r,d; + if (fabs(yr) > fabs(yi)) { + r = yi/yr; + d = yr + r*yi; + cdivr = (xr + r*xi)/d; + cdivi = (xi - r*xr)/d; + } else { + r = yr/yi; + d = yi + r*yr; + cdivr = (r*xr + xi)/d; + cdivi = (r*xi - xr)/d; + } + } + + + // Nonsymmetric reduction from Hessenberg to real Schur form. + + void hqr2 () { + + // This is derived from the Algol procedure hqr2, + // by Martin and Wilkinson, Handbook for Auto. Comp., + // Vol.ii-Linear Algebra, and the corresponding + // Fortran subroutine in EISPACK. + + // Initialize + + int nn = this->n; + int n = nn-1; + int low = 0; + int high = nn-1; + Real eps = pow(2.0,-52.0); + Real exshift = 0.0; + Real p=0,q=0,r=0,s=0,z=0,t,w,x,y; + + // Store roots isolated by balanc and compute matrix norm + + Real norm = 0.0; + for (int i = 0; i < nn; i++) { + if ((i < low) || (i > high)) { + d[i] = H[i][i]; + e[i] = 0.0; + } + for (int j = max(i-1,0); j < nn; j++) { + norm = norm + fabs(H[i][j]); + } + } + + // Outer loop over eigenvalue index + + int iter = 0; + int totIter = 0; + while (n >= low) { + + // NT limit no. of iterations + totIter++; + if(totIter>100) { + //if(totIter>15) std::cout<<"!!!!iter ABORT !!!!!!! "<<totIter<<"\n"; + // NT hack/fix, return large eigenvalues + for (int i = 0; i < nn; i++) { + d[i] = 10000.; + e[i] = 10000.; + } + return; + } + + // Look for single small sub-diagonal element + + int l = n; + while (l > low) { + s = fabs(H[l-1][l-1]) + fabs(H[l][l]); + if (s == 0.0) { + s = norm; + } + if (fabs(H[l][l-1]) < eps * s) { + break; + } + l--; + } + + // Check for convergence + // One root found + + if (l == n) { + H[n][n] = H[n][n] + exshift; + d[n] = H[n][n]; + e[n] = 0.0; + n--; + iter = 0; + + // Two roots found + + } else if (l == n-1) { + w = H[n][n-1] * H[n-1][n]; + p = (H[n-1][n-1] - H[n][n]) / 2.0; + q = p * p + w; + z = sqrt(fabs(q)); + H[n][n] = H[n][n] + exshift; + H[n-1][n-1] = H[n-1][n-1] + exshift; + x = H[n][n]; + + // Real pair + + if (q >= 0) { + if (p >= 0) { + z = p + z; + } else { + z = p - z; + } + d[n-1] = x + z; + d[n] = d[n-1]; + if (z != 0.0) { + d[n] = x - w / z; + } + e[n-1] = 0.0; + e[n] = 0.0; + x = H[n][n-1]; + s = fabs(x) + fabs(z); + p = x / s; + q = z / s; + r = sqrt(p * p+q * q); + p = p / r; + q = q / r; + + // Row modification + + for (int j = n-1; j < nn; j++) { + z = H[n-1][j]; + H[n-1][j] = q * z + p * H[n][j]; + H[n][j] = q * H[n][j] - p * z; + } + + // Column modification + + for (int i = 0; i <= n; i++) { + z = H[i][n-1]; + H[i][n-1] = q * z + p * H[i][n]; + H[i][n] = q * H[i][n] - p * z; + } + + // Accumulate transformations + + for (int i = low; i <= high; i++) { + z = V[i][n-1]; + V[i][n-1] = q * z + p * V[i][n]; + V[i][n] = q * V[i][n] - p * z; + } + + // Complex pair + + } else { + d[n-1] = x + p; + d[n] = x + p; + e[n-1] = z; + e[n] = -z; + } + n = n - 2; + iter = 0; + + // No convergence yet + + } else { + + // Form shift + + x = H[n][n]; + y = 0.0; + w = 0.0; + if (l < n) { + y = H[n-1][n-1]; + w = H[n][n-1] * H[n-1][n]; + } + + // Wilkinson's original ad hoc shift + + if (iter == 10) { + exshift += x; + for (int i = low; i <= n; i++) { + H[i][i] -= x; + } + s = fabs(H[n][n-1]) + fabs(H[n-1][n-2]); + x = y = 0.75 * s; + w = -0.4375 * s * s; + } + + // MATLAB's new ad hoc shift + + if (iter == 30) { + s = (y - x) / 2.0; + s = s * s + w; + if (s > 0) { + s = sqrt(s); + if (y < x) { + s = -s; + } + s = x - w / ((y - x) / 2.0 + s); + for (int i = low; i <= n; i++) { + H[i][i] -= s; + } + exshift += s; + x = y = w = 0.964; + } + } + + iter = iter + 1; // (Could check iteration count here.) + + // Look for two consecutive small sub-diagonal elements + + int m = n-2; + while (m >= l) { + z = H[m][m]; + r = x - z; + s = y - z; + p = (r * s - w) / H[m+1][m] + H[m][m+1]; + q = H[m+1][m+1] - z - r - s; + r = H[m+2][m+1]; + s = fabs(p) + fabs(q) + fabs(r); + p = p / s; + q = q / s; + r = r / s; + if (m == l) { + break; + } + if (fabs(H[m][m-1]) * (fabs(q) + fabs(r)) < + eps * (fabs(p) * (fabs(H[m-1][m-1]) + fabs(z) + + fabs(H[m+1][m+1])))) { + break; + } + m--; + } + + for (int i = m+2; i <= n; i++) { + H[i][i-2] = 0.0; + if (i > m+2) { + H[i][i-3] = 0.0; + } + } + + // Double QR step involving rows l:n and columns m:n + + for (int k = m; k <= n-1; k++) { + int notlast = (k != n-1); + if (k != m) { + p = H[k][k-1]; + q = H[k+1][k-1]; + r = (notlast ? H[k+2][k-1] : 0.0); + x = fabs(p) + fabs(q) + fabs(r); + if (x != 0.0) { + p = p / x; + q = q / x; + r = r / x; + } + } + if (x == 0.0) { + break; + } + s = sqrt(p * p + q * q + r * r); + if (p < 0) { + s = -s; + } + if (s != 0) { + if (k != m) { + H[k][k-1] = -s * x; + } else if (l != m) { + H[k][k-1] = -H[k][k-1]; + } + p = p + s; + x = p / s; + y = q / s; + z = r / s; + q = q / p; + r = r / p; + + // Row modification + + for (int j = k; j < nn; j++) { + p = H[k][j] + q * H[k+1][j]; + if (notlast) { + p = p + r * H[k+2][j]; + H[k+2][j] = H[k+2][j] - p * z; + } + H[k][j] = H[k][j] - p * x; + H[k+1][j] = H[k+1][j] - p * y; + } + + // Column modification + + for (int i = 0; i <= min(n,k+3); i++) { + p = x * H[i][k] + y * H[i][k+1]; + if (notlast) { + p = p + z * H[i][k+2]; + H[i][k+2] = H[i][k+2] - p * r; + } + H[i][k] = H[i][k] - p; + H[i][k+1] = H[i][k+1] - p * q; + } + + // Accumulate transformations + + for (int i = low; i <= high; i++) { + p = x * V[i][k] + y * V[i][k+1]; + if (notlast) { + p = p + z * V[i][k+2]; + V[i][k+2] = V[i][k+2] - p * r; + } + V[i][k] = V[i][k] - p; + V[i][k+1] = V[i][k+1] - p * q; + } + } // (s != 0) + } // k loop + } // check convergence + } // while (n >= low) + //if(totIter>15) std::cout<<"!!!!iter "<<totIter<<"\n"; + + // Backsubstitute to find vectors of upper triangular form + + if (norm == 0.0) { + return; + } + + for (n = nn-1; n >= 0; n--) { + p = d[n]; + q = e[n]; + + // Real vector + + if (q == 0) { + int l = n; + H[n][n] = 1.0; + for (int i = n-1; i >= 0; i--) { + w = H[i][i] - p; + r = 0.0; + for (int j = l; j <= n; j++) { + r = r + H[i][j] * H[j][n]; + } + if (e[i] < 0.0) { + z = w; + s = r; + } else { + l = i; + if (e[i] == 0.0) { + if (w != 0.0) { + H[i][n] = -r / w; + } else { + H[i][n] = -r / (eps * norm); + } + + // Solve real equations + + } else { + x = H[i][i+1]; + y = H[i+1][i]; + q = (d[i] - p) * (d[i] - p) + e[i] * e[i]; + t = (x * s - z * r) / q; + H[i][n] = t; + if (fabs(x) > fabs(z)) { + H[i+1][n] = (-r - w * t) / x; + } else { + H[i+1][n] = (-s - y * t) / z; + } + } + + // Overflow control + + t = fabs(H[i][n]); + if ((eps * t) * t > 1) { + for (int j = i; j <= n; j++) { + H[j][n] = H[j][n] / t; + } + } + } + } + + // Complex vector + + } else if (q < 0) { + int l = n-1; + + // Last vector component imaginary so matrix is triangular + + if (fabs(H[n][n-1]) > fabs(H[n-1][n])) { + H[n-1][n-1] = q / H[n][n-1]; + H[n-1][n] = -(H[n][n] - p) / H[n][n-1]; + } else { + cdiv(0.0,-H[n-1][n],H[n-1][n-1]-p,q); + H[n-1][n-1] = cdivr; + H[n-1][n] = cdivi; + } + H[n][n-1] = 0.0; + H[n][n] = 1.0; + for (int i = n-2; i >= 0; i--) { + Real ra,sa,vr,vi; + ra = 0.0; + sa = 0.0; + for (int j = l; j <= n; j++) { + ra = ra + H[i][j] * H[j][n-1]; + sa = sa + H[i][j] * H[j][n]; + } + w = H[i][i] - p; + + if (e[i] < 0.0) { + z = w; + r = ra; + s = sa; + } else { + l = i; + if (e[i] == 0) { + cdiv(-ra,-sa,w,q); + H[i][n-1] = cdivr; + H[i][n] = cdivi; + } else { + + // Solve complex equations + + x = H[i][i+1]; + y = H[i+1][i]; + vr = (d[i] - p) * (d[i] - p) + e[i] * e[i] - q * q; + vi = (d[i] - p) * 2.0 * q; + if ((vr == 0.0) && (vi == 0.0)) { + vr = eps * norm * (fabs(w) + fabs(q) + + fabs(x) + fabs(y) + fabs(z)); + } + cdiv(x*r-z*ra+q*sa,x*s-z*sa-q*ra,vr,vi); + H[i][n-1] = cdivr; + H[i][n] = cdivi; + if (fabs(x) > (fabs(z) + fabs(q))) { + H[i+1][n-1] = (-ra - w * H[i][n-1] + q * H[i][n]) / x; + H[i+1][n] = (-sa - w * H[i][n] - q * H[i][n-1]) / x; + } else { + cdiv(-r-y*H[i][n-1],-s-y*H[i][n],z,q); + H[i+1][n-1] = cdivr; + H[i+1][n] = cdivi; + } + } + + // Overflow control + + t = max(fabs(H[i][n-1]),fabs(H[i][n])); + if ((eps * t) * t > 1) { + for (int j = i; j <= n; j++) { + H[j][n-1] = H[j][n-1] / t; + H[j][n] = H[j][n] / t; + } + } + } + } + } + } + + // Vectors of isolated roots + + for (int i = 0; i < nn; i++) { + if (i < low || i > high) { + for (int j = i; j < nn; j++) { + V[i][j] = H[i][j]; + } + } + } + + // Back transformation to get eigenvectors of original matrix + + for (int j = nn-1; j >= low; j--) { + for (int i = low; i <= high; i++) { + z = 0.0; + for (int k = low; k <= min(j,high); k++) { + z = z + V[i][k] * H[k][j]; + } + V[i][j] = z; + } + } + } + +public: + + + /** Check for symmetry, then construct the eigenvalue decomposition + @param A Square real (non-complex) matrix + */ + + Eigenvalue(const TNT::Array2D<Real> &A) { + n = A.dim2(); + V = Array2D<Real>(n,n); + d = Array1D<Real>(n); + e = Array1D<Real>(n); + + issymmetric = 1; + for (int j = 0; (j < n) && issymmetric; j++) { + for (int i = 0; (i < n) && issymmetric; i++) { + issymmetric = (A[i][j] == A[j][i]); + } + } + + if (issymmetric) { + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + V[i][j] = A[i][j]; + } + } + + // Tridiagonalize. + tred2(); + + // Diagonalize. + tql2(); + + } else { + H = TNT::Array2D<Real>(n,n); + ort = TNT::Array1D<Real>(n); + + for (int j = 0; j < n; j++) { + for (int i = 0; i < n; i++) { + H[i][j] = A[i][j]; + } + } + + // Reduce to Hessenberg form. + orthes(); + + // Reduce Hessenberg to real Schur form. + hqr2(); + } + } + + + /** Return the eigenvector matrix + @return V + */ + + void getV (TNT::Array2D<Real> &V_) { + V_ = V; + return; + } + + /** Return the real parts of the eigenvalues + @return real(diag(D)) + */ + + void getRealEigenvalues (TNT::Array1D<Real> &d_) { + d_ = d; + return ; + } + + /** Return the imaginary parts of the eigenvalues + in parameter e_. + + @pararm e_: new matrix with imaginary parts of the eigenvalues. + */ + void getImagEigenvalues (TNT::Array1D<Real> &e_) { + e_ = e; + return; + } + + +/** + Computes the block diagonal eigenvalue matrix. + If the original matrix A is not symmetric, then the eigenvalue + matrix D is block diagonal with the real eigenvalues in 1-by-1 + blocks and any complex eigenvalues, + a + i*b, in 2-by-2 blocks, [a, b; -b, a]. That is, if the complex + eigenvalues look like +<pre> + + u + iv . . . . . + . u - iv . . . . + . . a + ib . . . + . . . a - ib . . + . . . . x . + . . . . . y +</pre> + then D looks like +<pre> + + u v . . . . + -v u . . . . + . . a b . . + . . -b a . . + . . . . x . + . . . . . y +</pre> + This keeps V a real matrix in both symmetric and non-symmetric + cases, and A*V = V*D. + + @param D: upon return, the matrix is filled with the block diagonal + eigenvalue matrix. + +*/ + void getD (TNT::Array2D<Real> &D) { + D = Array2D<Real>(n,n); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + D[i][j] = 0.0; + } + D[i][i] = d[i]; + if (e[i] > 0) { + D[i][i+1] = e[i]; + } else if (e[i] < 0) { + D[i][i-1] = e[i]; + } + } + } +}; + +} //namespace JAMA + + +#endif +// JAMA_EIG_H diff --git a/intern/smoke/intern/tnt/jama_lu.h b/intern/smoke/intern/tnt/jama_lu.h new file mode 100644 index 00000000000..a4f96b11502 --- /dev/null +++ b/intern/smoke/intern/tnt/jama_lu.h @@ -0,0 +1,319 @@ +#ifndef JAMA_LU_H +#define JAMA_LU_H + +#include "tnt.h" +#include <algorithm> +//for min(), max() below + +using namespace TNT; +using namespace std; + +namespace JAMA +{ + + /** LU Decomposition. + <P> + For an m-by-n matrix A with m >= n, the LU decomposition is an m-by-n + unit lower triangular matrix L, an n-by-n upper triangular matrix U, + and a permutation vector piv of length m so that A(piv,:) = L*U. + If m < n, then L is m-by-m and U is m-by-n. + <P> + The LU decompostion with pivoting always exists, even if the matrix is + singular, so the constructor will never fail. The primary use of the + LU decomposition is in the solution of square systems of simultaneous + linear equations. This will fail if isNonsingular() returns false. + */ +template <class Real> +class LU +{ + + + + /* Array for internal storage of decomposition. */ + Array2D<Real> LU_; + int m, n, pivsign; + Array1D<int> piv; + + + Array2D<Real> permute_copy(const Array2D<Real> &A, + const Array1D<int> &piv, int j0, int j1) + { + int piv_length = piv.dim(); + + Array2D<Real> X(piv_length, j1-j0+1); + + + for (int i = 0; i < piv_length; i++) + for (int j = j0; j <= j1; j++) + X[i][j-j0] = A[piv[i]][j]; + + return X; + } + + Array1D<Real> permute_copy(const Array1D<Real> &A, + const Array1D<int> &piv) + { + int piv_length = piv.dim(); + if (piv_length != A.dim()) + return Array1D<Real>(); + + Array1D<Real> x(piv_length); + + + for (int i = 0; i < piv_length; i++) + x[i] = A[piv[i]]; + + return x; + } + + + public : + + /** LU Decomposition + @param A Rectangular matrix + @return LU Decomposition object to access L, U and piv. + */ + + LU (const Array2D<Real> &A) : LU_(A.copy()), m(A.dim1()), n(A.dim2()), + piv(A.dim1()) + + { + + // Use a "left-looking", dot-product, Crout/Doolittle algorithm. + + + for (int i = 0; i < m; i++) { + piv[i] = i; + } + pivsign = 1; + Real *LUrowi = 0;; + Array1D<Real> LUcolj(m); + + // Outer loop. + + for (int j = 0; j < n; j++) { + + // Make a copy of the j-th column to localize references. + + for (int i = 0; i < m; i++) { + LUcolj[i] = LU_[i][j]; + } + + // Apply previous transformations. + + for (int i = 0; i < m; i++) { + LUrowi = LU_[i]; + + // Most of the time is spent in the following dot product. + + int kmax = min(i,j); + double s = 0.0; + for (int k = 0; k < kmax; k++) { + s += LUrowi[k]*LUcolj[k]; + } + + LUrowi[j] = LUcolj[i] -= s; + } + + // Find pivot and exchange if necessary. + + int p = j; + for (int i = j+1; i < m; i++) { + if (abs(LUcolj[i]) > abs(LUcolj[p])) { + p = i; + } + } + if (p != j) { + int k=0; + for (k = 0; k < n; k++) { + double t = LU_[p][k]; + LU_[p][k] = LU_[j][k]; + LU_[j][k] = t; + } + k = piv[p]; + piv[p] = piv[j]; + piv[j] = k; + pivsign = -pivsign; + } + + // Compute multipliers. + + if ((j < m) && (LU_[j][j] != 0.0)) { + for (int i = j+1; i < m; i++) { + LU_[i][j] /= LU_[j][j]; + } + } + } + } + + + /** Is the matrix nonsingular? + @return 1 (true) if upper triangular factor U (and hence A) + is nonsingular, 0 otherwise. + */ + + int isNonsingular () { + for (int j = 0; j < n; j++) { + if (LU_[j][j] == 0) + return 0; + } + return 1; + } + + /** Return lower triangular factor + @return L + */ + + Array2D<Real> getL () { + Array2D<Real> L_(m,n); + for (int i = 0; i < m; i++) { + for (int j = 0; j < n; j++) { + if (i > j) { + L_[i][j] = LU_[i][j]; + } else if (i == j) { + L_[i][j] = 1.0; + } else { + L_[i][j] = 0.0; + } + } + } + return L_; + } + + /** Return upper triangular factor + @return U portion of LU factorization. + */ + + Array2D<Real> getU () { + Array2D<Real> U_(n,n); + for (int i = 0; i < n; i++) { + for (int j = 0; j < n; j++) { + if (i <= j) { + U_[i][j] = LU_[i][j]; + } else { + U_[i][j] = 0.0; + } + } + } + return U_; + } + + /** Return pivot permutation vector + @return piv + */ + + Array1D<int> getPivot () { + return piv; + } + + + /** Compute determinant using LU factors. + @return determinant of A, or 0 if A is not square. + */ + + Real det () { + if (m != n) { + return Real(0); + } + Real d = Real(pivsign); + for (int j = 0; j < n; j++) { + d *= LU_[j][j]; + } + return d; + } + + /** Solve A*X = B + @param B A Matrix with as many rows as A and any number of columns. + @return X so that L*U*X = B(piv,:), if B is nonconformant, returns + 0x0 (null) array. + */ + + Array2D<Real> solve (const Array2D<Real> &B) + { + + /* Dimensions: A is mxn, X is nxk, B is mxk */ + + if (B.dim1() != m) { + return Array2D<Real>(0,0); + } + if (!isNonsingular()) { + return Array2D<Real>(0,0); + } + + // Copy right hand side with pivoting + int nx = B.dim2(); + + + Array2D<Real> X = permute_copy(B, piv, 0, nx-1); + + // Solve L*Y = B(piv,:) + for (int k = 0; k < n; k++) { + for (int i = k+1; i < n; i++) { + for (int j = 0; j < nx; j++) { + X[i][j] -= X[k][j]*LU_[i][k]; + } + } + } + // Solve U*X = Y; + for (int k = n-1; k >= 0; k--) { + for (int j = 0; j < nx; j++) { + X[k][j] /= LU_[k][k]; + } + for (int i = 0; i < k; i++) { + for (int j = 0; j < nx; j++) { + X[i][j] -= X[k][j]*LU_[i][k]; + } + } + } + return X; + } + + + /** Solve A*x = b, where x and b are vectors of length equal + to the number of rows in A. + + @param b a vector (Array1D> of length equal to the first dimension + of A. + @return x a vector (Array1D> so that L*U*x = b(piv), if B is nonconformant, + returns 0x0 (null) array. + */ + + Array1D<Real> solve (const Array1D<Real> &b) + { + + /* Dimensions: A is mxn, X is nxk, B is mxk */ + + if (b.dim1() != m) { + return Array1D<Real>(); + } + if (!isNonsingular()) { + return Array1D<Real>(); + } + + + Array1D<Real> x = permute_copy(b, piv); + + // Solve L*Y = B(piv) + for (int k = 0; k < n; k++) { + for (int i = k+1; i < n; i++) { + x[i] -= x[k]*LU_[i][k]; + } + } + + // Solve U*X = Y; + for (int k = n-1; k >= 0; k--) { + x[k] /= LU_[k][k]; + for (int i = 0; i < k; i++) + x[i] -= x[k]*LU_[i][k]; + } + + + return x; + } + +}; /* class LU */ + +} /* namespace JAMA */ + +#endif +/* JAMA_LU_H */ diff --git a/intern/smoke/intern/tnt/tnt.h b/intern/smoke/intern/tnt/tnt.h new file mode 100644 index 00000000000..92463e08a06 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt.h @@ -0,0 +1,64 @@ +/* +* +* Template Numerical Toolkit (TNT): Linear Algebra Module +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + +#ifndef TNT_H +#define TNT_H + + + +//--------------------------------------------------------------------- +// Define this macro if you want TNT to track some of the out-of-bounds +// indexing. This can encur a small run-time overhead, but is recommended +// while developing code. It can be turned off for production runs. +// +// #define TNT_BOUNDS_CHECK +//--------------------------------------------------------------------- +// + +//#define TNT_BOUNDS_CHECK + + + +#include "tnt_version.h" +#include "tnt_math_utils.h" +#include "tnt_array1d.h" +#include "tnt_array2d.h" +#include "tnt_array3d.h" +#include "tnt_array1d_utils.h" +#include "tnt_array2d_utils.h" +#include "tnt_array3d_utils.h" + +#include "tnt_fortran_array1d.h" +#include "tnt_fortran_array2d.h" +#include "tnt_fortran_array3d.h" +#include "tnt_fortran_array1d_utils.h" +#include "tnt_fortran_array2d_utils.h" +#include "tnt_fortran_array3d_utils.h" + +#include "tnt_sparse_matrix_csr.h" + +#include "tnt_stopwatch.h" +#include "tnt_subscript.h" +#include "tnt_vec.h" +#include "tnt_cmat.h" + + +#endif +// TNT_H diff --git a/intern/smoke/intern/tnt/tnt_array1d.h b/intern/smoke/intern/tnt/tnt_array1d.h new file mode 100644 index 00000000000..858df579863 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_array1d.h @@ -0,0 +1,278 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + + +#ifndef TNT_ARRAY1D_H +#define TNT_ARRAY1D_H + +//#include <cstdlib> +#include <iostream> + +#ifdef TNT_BOUNDS_CHECK +#include <assert.h> +#endif + + +#include "tnt_i_refvec.h" + +namespace TNT +{ + +template <class T> +class Array1D +{ + + private: + + /* ... */ + i_refvec<T> v_; + int n_; + T* data_; /* this normally points to v_.begin(), but + * could also point to a portion (subvector) + * of v_. + */ + + void copy_(T* p, const T* q, int len) const; + void set_(T* begin, T* end, const T& val); + + + public: + + typedef T value_type; + + + Array1D(); + explicit Array1D(int n); + Array1D(int n, const T &a); + Array1D(int n, T *a); + inline Array1D(const Array1D &A); + inline operator T*(); + inline operator const T*(); + inline Array1D & operator=(const T &a); + inline Array1D & operator=(const Array1D &A); + inline Array1D & ref(const Array1D &A); + Array1D copy() const; + Array1D & inject(const Array1D & A); + inline T& operator[](int i); + inline const T& operator[](int i) const; + inline int dim1() const; + inline int dim() const; + ~Array1D(); + + + /* ... extended interface ... */ + + inline int ref_count() const; + inline Array1D<T> subarray(int i0, int i1); + +}; + + + + +template <class T> +Array1D<T>::Array1D() : v_(), n_(0), data_(0) {} + +template <class T> +Array1D<T>::Array1D(const Array1D<T> &A) : v_(A.v_), n_(A.n_), + data_(A.data_) +{ +#ifdef TNT_DEBUG + std::cout << "Created Array1D(const Array1D<T> &A) \n"; +#endif + +} + + +template <class T> +Array1D<T>::Array1D(int n) : v_(n), n_(n), data_(v_.begin()) +{ +#ifdef TNT_DEBUG + std::cout << "Created Array1D(int n) \n"; +#endif +} + +template <class T> +Array1D<T>::Array1D(int n, const T &val) : v_(n), n_(n), data_(v_.begin()) +{ +#ifdef TNT_DEBUG + std::cout << "Created Array1D(int n, const T& val) \n"; +#endif + set_(data_, data_+ n, val); + +} + +template <class T> +Array1D<T>::Array1D(int n, T *a) : v_(a), n_(n) , data_(v_.begin()) +{ +#ifdef TNT_DEBUG + std::cout << "Created Array1D(int n, T* a) \n"; +#endif +} + +template <class T> +inline Array1D<T>::operator T*() +{ + return &(v_[0]); +} + + +template <class T> +inline Array1D<T>::operator const T*() +{ + return &(v_[0]); +} + + + +template <class T> +inline T& Array1D<T>::operator[](int i) +{ +#ifdef TNT_BOUNDS_CHECK + assert(i>= 0); + assert(i < n_); +#endif + return data_[i]; +} + +template <class T> +inline const T& Array1D<T>::operator[](int i) const +{ +#ifdef TNT_BOUNDS_CHECK + assert(i>= 0); + assert(i < n_); +#endif + return data_[i]; +} + + + + +template <class T> +Array1D<T> & Array1D<T>::operator=(const T &a) +{ + set_(data_, data_+n_, a); + return *this; +} + +template <class T> +Array1D<T> Array1D<T>::copy() const +{ + Array1D A( n_); + copy_(A.data_, data_, n_); + + return A; +} + + +template <class T> +Array1D<T> & Array1D<T>::inject(const Array1D &A) +{ + if (A.n_ == n_) + copy_(data_, A.data_, n_); + + return *this; +} + + + + + +template <class T> +Array1D<T> & Array1D<T>::ref(const Array1D<T> &A) +{ + if (this != &A) + { + v_ = A.v_; /* operator= handles the reference counting. */ + n_ = A.n_; + data_ = A.data_; + + } + return *this; +} + +template <class T> +Array1D<T> & Array1D<T>::operator=(const Array1D<T> &A) +{ + return ref(A); +} + +template <class T> +inline int Array1D<T>::dim1() const { return n_; } + +template <class T> +inline int Array1D<T>::dim() const { return n_; } + +template <class T> +Array1D<T>::~Array1D() {} + + +/* ............................ exented interface ......................*/ + +template <class T> +inline int Array1D<T>::ref_count() const +{ + return v_.ref_count(); +} + +template <class T> +inline Array1D<T> Array1D<T>::subarray(int i0, int i1) +{ + if ((i0 > 0) && (i1 < n_) || (i0 <= i1)) + { + Array1D<T> X(*this); /* create a new instance of this array. */ + X.n_ = i1-i0+1; + X.data_ += i0; + + return X; + } + else + { + return Array1D<T>(); + } +} + + +/* private internal functions */ + + +template <class T> +void Array1D<T>::set_(T* begin, T* end, const T& a) +{ + for (T* p=begin; p<end; p++) + *p = a; + +} + +template <class T> +void Array1D<T>::copy_(T* p, const T* q, int len) const +{ + T *end = p + len; + while (p<end ) + *p++ = *q++; + +} + + +} /* namespace TNT */ + +#endif +/* TNT_ARRAY1D_H */ + diff --git a/intern/smoke/intern/tnt/tnt_array1d_utils.h b/intern/smoke/intern/tnt/tnt_array1d_utils.h new file mode 100644 index 00000000000..683e0e2d856 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_array1d_utils.h @@ -0,0 +1,230 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + +#ifndef TNT_ARRAY1D_UTILS_H +#define TNT_ARRAY1D_UTILS_H + +#include <cstdlib> +#include <cassert> + +namespace TNT +{ + + +template <class T> +std::ostream& operator<<(std::ostream &s, const Array1D<T> &A) +{ + int N=A.dim1(); + +#ifdef TNT_DEBUG + s << "addr: " << (void *) &A[0] << "\n"; +#endif + s << N << "\n"; + for (int j=0; j<N; j++) + { + s << A[j] << "\n"; + } + s << "\n"; + + return s; +} + +template <class T> +std::istream& operator>>(std::istream &s, Array1D<T> &A) +{ + int N; + s >> N; + + Array1D<T> B(N); + for (int i=0; i<N; i++) + s >> B[i]; + A = B; + return s; +} + + + +template <class T> +Array1D<T> operator+(const Array1D<T> &A, const Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() != n ) + return Array1D<T>(); + + else + { + Array1D<T> C(n); + + for (int i=0; i<n; i++) + { + C[i] = A[i] + B[i]; + } + return C; + } +} + + + +template <class T> +Array1D<T> operator-(const Array1D<T> &A, const Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() != n ) + return Array1D<T>(); + + else + { + Array1D<T> C(n); + + for (int i=0; i<n; i++) + { + C[i] = A[i] - B[i]; + } + return C; + } +} + + +template <class T> +Array1D<T> operator*(const Array1D<T> &A, const Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() != n ) + return Array1D<T>(); + + else + { + Array1D<T> C(n); + + for (int i=0; i<n; i++) + { + C[i] = A[i] * B[i]; + } + return C; + } +} + + +template <class T> +Array1D<T> operator/(const Array1D<T> &A, const Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() != n ) + return Array1D<T>(); + + else + { + Array1D<T> C(n); + + for (int i=0; i<n; i++) + { + C[i] = A[i] / B[i]; + } + return C; + } +} + + + + + + + + + +template <class T> +Array1D<T>& operator+=(Array1D<T> &A, const Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() == n) + { + for (int i=0; i<n; i++) + { + A[i] += B[i]; + } + } + return A; +} + + + + +template <class T> +Array1D<T>& operator-=(Array1D<T> &A, const Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() == n) + { + for (int i=0; i<n; i++) + { + A[i] -= B[i]; + } + } + return A; +} + + + +template <class T> +Array1D<T>& operator*=(Array1D<T> &A, const Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() == n) + { + for (int i=0; i<n; i++) + { + A[i] *= B[i]; + } + } + return A; +} + + + + +template <class T> +Array1D<T>& operator/=(Array1D<T> &A, const Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() == n) + { + for (int i=0; i<n; i++) + { + A[i] /= B[i]; + } + } + return A; +} + + + + + + +} // namespace TNT + +#endif diff --git a/intern/smoke/intern/tnt/tnt_array2d.h b/intern/smoke/intern/tnt/tnt_array2d.h new file mode 100644 index 00000000000..c791575ebfb --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_array2d.h @@ -0,0 +1,315 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + + +#ifndef TNT_ARRAY2D_H +#define TNT_ARRAY2D_H + +#include <cstdlib> +#include <iostream> +#ifdef TNT_BOUNDS_CHECK +#include <assert.h> +#endif + +#include "tnt_array1d.h" + +namespace TNT +{ + +template <class T> +class Array2D +{ + + + private: + + + + Array1D<T> data_; + Array1D<T*> v_; + int m_; + int n_; + + public: + + typedef T value_type; + Array2D(); + Array2D(int m, int n); + Array2D(int m, int n, T *a); + Array2D(int m, int n, const T &a); + inline Array2D(const Array2D &A); + inline operator T**(); + inline operator const T**(); + inline Array2D & operator=(const T &a); + inline Array2D & operator=(const Array2D &A); + inline Array2D & ref(const Array2D &A); + Array2D copy() const; + Array2D & inject(const Array2D & A); + inline T* operator[](int i); + inline const T* operator[](int i) const; + inline int dim1() const; + inline int dim2() const; + ~Array2D(); + + /* extended interface (not part of the standard) */ + + + inline int ref_count(); + inline int ref_count_data(); + inline int ref_count_dim1(); + Array2D subarray(int i0, int i1, int j0, int j1); + +}; + + +template <class T> +Array2D<T>::Array2D() : data_(), v_(), m_(0), n_(0) {} + +template <class T> +Array2D<T>::Array2D(const Array2D<T> &A) : data_(A.data_), v_(A.v_), + m_(A.m_), n_(A.n_) {} + + + + +template <class T> +Array2D<T>::Array2D(int m, int n) : data_(m*n), v_(m), m_(m), n_(n) +{ + if (m>0 && n>0) + { + T* p = &(data_[0]); + for (int i=0; i<m; i++) + { + v_[i] = p; + p += n; + } + } +} + + + +template <class T> +Array2D<T>::Array2D(int m, int n, const T &val) : data_(m*n), v_(m), + m_(m), n_(n) +{ + if (m>0 && n>0) + { + data_ = val; + T* p = &(data_[0]); + for (int i=0; i<m; i++) + { + v_[i] = p; + p += n; + } + } +} + +template <class T> +Array2D<T>::Array2D(int m, int n, T *a) : data_(m*n, a), v_(m), m_(m), n_(n) +{ + if (m>0 && n>0) + { + T* p = &(data_[0]); + + for (int i=0; i<m; i++) + { + v_[i] = p; + p += n; + } + } +} + + +template <class T> +inline T* Array2D<T>::operator[](int i) +{ +#ifdef TNT_BOUNDS_CHECK + assert(i >= 0); + assert(i < m_); +#endif + +return v_[i]; + +} + + +template <class T> +inline const T* Array2D<T>::operator[](int i) const +{ +#ifdef TNT_BOUNDS_CHECK + assert(i >= 0); + assert(i < m_); +#endif + +return v_[i]; + +} + +template <class T> +Array2D<T> & Array2D<T>::operator=(const T &a) +{ + /* non-optimzied, but will work with subarrays in future verions */ + + for (int i=0; i<m_; i++) + for (int j=0; j<n_; j++) + v_[i][j] = a; + return *this; +} + + + + +template <class T> +Array2D<T> Array2D<T>::copy() const +{ + Array2D A(m_, n_); + + for (int i=0; i<m_; i++) + for (int j=0; j<n_; j++) + A[i][j] = v_[i][j]; + + + return A; +} + + +template <class T> +Array2D<T> & Array2D<T>::inject(const Array2D &A) +{ + if (A.m_ == m_ && A.n_ == n_) + { + for (int i=0; i<m_; i++) + for (int j=0; j<n_; j++) + v_[i][j] = A[i][j]; + } + return *this; +} + + + + +template <class T> +Array2D<T> & Array2D<T>::ref(const Array2D<T> &A) +{ + if (this != &A) + { + v_ = A.v_; + data_ = A.data_; + m_ = A.m_; + n_ = A.n_; + + } + return *this; +} + + + +template <class T> +Array2D<T> & Array2D<T>::operator=(const Array2D<T> &A) +{ + return ref(A); +} + +template <class T> +inline int Array2D<T>::dim1() const { return m_; } + +template <class T> +inline int Array2D<T>::dim2() const { return n_; } + + +template <class T> +Array2D<T>::~Array2D() {} + + + + +template <class T> +inline Array2D<T>::operator T**() +{ + return &(v_[0]); +} +template <class T> +inline Array2D<T>::operator const T**() +{ + return &(v_[0]); +} + +/* ............... extended interface ............... */ +/** + Create a new view to a subarray defined by the boundaries + [i0][i0] and [i1][j1]. The size of the subarray is + (i1-i0) by (j1-j0). If either of these lengths are zero + or negative, the subarray view is null. + +*/ +template <class T> +Array2D<T> Array2D<T>::subarray(int i0, int i1, int j0, int j1) +{ + Array2D<T> A; + int m = i1-i0+1; + int n = j1-j0+1; + + /* if either length is zero or negative, this is an invalide + subarray. return a null view. + */ + if (m<1 || n<1) + return A; + + A.data_ = data_; + A.m_ = m; + A.n_ = n; + A.v_ = Array1D<T*>(m); + T* p = &(data_[0]) + i0 * n_ + j0; + for (int i=0; i<m; i++) + { + A.v_[i] = p + i*n_; + + } + return A; +} + +template <class T> +inline int Array2D<T>::ref_count() +{ + return ref_count_data(); +} + + + +template <class T> +inline int Array2D<T>::ref_count_data() +{ + return data_.ref_count(); +} + +template <class T> +inline int Array2D<T>::ref_count_dim1() +{ + return v_.ref_count(); +} + + + + +} /* namespace TNT */ + +#endif +/* TNT_ARRAY2D_H */ + diff --git a/intern/smoke/intern/tnt/tnt_array2d_utils.h b/intern/smoke/intern/tnt/tnt_array2d_utils.h new file mode 100644 index 00000000000..7041ed37857 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_array2d_utils.h @@ -0,0 +1,287 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + +#ifndef TNT_ARRAY2D_UTILS_H +#define TNT_ARRAY2D_UTILS_H + +#include <cstdlib> +#include <cassert> + +namespace TNT +{ + + +template <class T> +std::ostream& operator<<(std::ostream &s, const Array2D<T> &A) +{ + int M=A.dim1(); + int N=A.dim2(); + + s << M << " " << N << "\n"; + + for (int i=0; i<M; i++) + { + for (int j=0; j<N; j++) + { + s << A[i][j] << " "; + } + s << "\n"; + } + + + return s; +} + +template <class T> +std::istream& operator>>(std::istream &s, Array2D<T> &A) +{ + + int M, N; + + s >> M >> N; + + Array2D<T> B(M,N); + + for (int i=0; i<M; i++) + for (int j=0; j<N; j++) + { + s >> B[i][j]; + } + + A = B; + return s; +} + + +template <class T> +Array2D<T> operator+(const Array2D<T> &A, const Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() != m || B.dim2() != n ) + return Array2D<T>(); + + else + { + Array2D<T> C(m,n); + + for (int i=0; i<m; i++) + { + for (int j=0; j<n; j++) + C[i][j] = A[i][j] + B[i][j]; + } + return C; + } +} + +template <class T> +Array2D<T> operator-(const Array2D<T> &A, const Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() != m || B.dim2() != n ) + return Array2D<T>(); + + else + { + Array2D<T> C(m,n); + + for (int i=0; i<m; i++) + { + for (int j=0; j<n; j++) + C[i][j] = A[i][j] - B[i][j]; + } + return C; + } +} + + +template <class T> +Array2D<T> operator*(const Array2D<T> &A, const Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() != m || B.dim2() != n ) + return Array2D<T>(); + + else + { + Array2D<T> C(m,n); + + for (int i=0; i<m; i++) + { + for (int j=0; j<n; j++) + C[i][j] = A[i][j] * B[i][j]; + } + return C; + } +} + + + + +template <class T> +Array2D<T> operator/(const Array2D<T> &A, const Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() != m || B.dim2() != n ) + return Array2D<T>(); + + else + { + Array2D<T> C(m,n); + + for (int i=0; i<m; i++) + { + for (int j=0; j<n; j++) + C[i][j] = A[i][j] / B[i][j]; + } + return C; + } +} + + + + + +template <class T> +Array2D<T>& operator+=(Array2D<T> &A, const Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() == m || B.dim2() == n ) + { + for (int i=0; i<m; i++) + { + for (int j=0; j<n; j++) + A[i][j] += B[i][j]; + } + } + return A; +} + + + +template <class T> +Array2D<T>& operator-=(Array2D<T> &A, const Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() == m || B.dim2() == n ) + { + for (int i=0; i<m; i++) + { + for (int j=0; j<n; j++) + A[i][j] -= B[i][j]; + } + } + return A; +} + + + +template <class T> +Array2D<T>& operator*=(Array2D<T> &A, const Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() == m || B.dim2() == n ) + { + for (int i=0; i<m; i++) + { + for (int j=0; j<n; j++) + A[i][j] *= B[i][j]; + } + } + return A; +} + + + + + +template <class T> +Array2D<T>& operator/=(Array2D<T> &A, const Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() == m || B.dim2() == n ) + { + for (int i=0; i<m; i++) + { + for (int j=0; j<n; j++) + A[i][j] /= B[i][j]; + } + } + return A; +} + +/** + Matrix Multiply: compute C = A*B, where C[i][j] + is the dot-product of row i of A and column j of B. + + + @param A an (m x n) array + @param B an (n x k) array + @return the (m x k) array A*B, or a null array (0x0) + if the matrices are non-conformant (i.e. the number + of columns of A are different than the number of rows of B.) + + +*/ +template <class T> +Array2D<T> matmult(const Array2D<T> &A, const Array2D<T> &B) +{ + if (A.dim2() != B.dim1()) + return Array2D<T>(); + + int M = A.dim1(); + int N = A.dim2(); + int K = B.dim2(); + + Array2D<T> C(M,K); + + for (int i=0; i<M; i++) + for (int j=0; j<K; j++) + { + T sum = 0; + + for (int k=0; k<N; k++) + sum += A[i][k] * B [k][j]; + + C[i][j] = sum; + } + + return C; + +} + +} // namespace TNT + +#endif diff --git a/intern/smoke/intern/tnt/tnt_array3d.h b/intern/smoke/intern/tnt/tnt_array3d.h new file mode 100644 index 00000000000..c210d2ed598 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_array3d.h @@ -0,0 +1,296 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + + +#ifndef TNT_ARRAY3D_H +#define TNT_ARRAY3D_H + +#include <cstdlib> +#include <iostream> +#ifdef TNT_BOUNDS_CHECK +#include <assert.h> +#endif + +#include "tnt_array1d.h" +#include "tnt_array2d.h" + +namespace TNT +{ + +template <class T> +class Array3D +{ + + + private: + Array1D<T> data_; + Array2D<T*> v_; + int m_; + int n_; + int g_; + + + public: + + typedef T value_type; + + Array3D(); + Array3D(int m, int n, int g); + Array3D(int m, int n, int g, T val); + Array3D(int m, int n, int g, T *a); + + inline operator T***(); + inline operator const T***(); + inline Array3D(const Array3D &A); + inline Array3D & operator=(const T &a); + inline Array3D & operator=(const Array3D &A); + inline Array3D & ref(const Array3D &A); + Array3D copy() const; + Array3D & inject(const Array3D & A); + + inline T** operator[](int i); + inline const T* const * operator[](int i) const; + inline int dim1() const; + inline int dim2() const; + inline int dim3() const; + ~Array3D(); + + /* extended interface */ + + inline int ref_count(){ return data_.ref_count(); } + Array3D subarray(int i0, int i1, int j0, int j1, + int k0, int k1); +}; + +template <class T> +Array3D<T>::Array3D() : data_(), v_(), m_(0), n_(0) {} + +template <class T> +Array3D<T>::Array3D(const Array3D<T> &A) : data_(A.data_), + v_(A.v_), m_(A.m_), n_(A.n_), g_(A.g_) +{ +} + + + +template <class T> +Array3D<T>::Array3D(int m, int n, int g) : data_(m*n*g), v_(m,n), + m_(m), n_(n), g_(g) +{ + + if (m>0 && n>0 && g>0) + { + T* p = & (data_[0]); + int ng = n_*g_; + + for (int i=0; i<m_; i++) + { + T* ping = p+ i*ng; + for (int j=0; j<n; j++) + v_[i][j] = ping + j*g_; + } + } +} + + + +template <class T> +Array3D<T>::Array3D(int m, int n, int g, T val) : data_(m*n*g, val), + v_(m,n), m_(m), n_(n), g_(g) +{ + if (m>0 && n>0 && g>0) + { + + T* p = & (data_[0]); + int ng = n_*g_; + + for (int i=0; i<m_; i++) + { + T* ping = p+ i*ng; + for (int j=0; j<n; j++) + v_[i][j] = ping + j*g_; + } + } +} + + + +template <class T> +Array3D<T>::Array3D(int m, int n, int g, T* a) : + data_(m*n*g, a), v_(m,n), m_(m), n_(n), g_(g) +{ + + if (m>0 && n>0 && g>0) + { + T* p = & (data_[0]); + int ng = n_*g_; + + for (int i=0; i<m_; i++) + { + T* ping = p+ i*ng; + for (int j=0; j<n; j++) + v_[i][j] = ping + j*g_; + } + } +} + + + +template <class T> +inline T** Array3D<T>::operator[](int i) +{ +#ifdef TNT_BOUNDS_CHECK + assert(i >= 0); + assert(i < m_); +#endif + +return v_[i]; + +} + +template <class T> +inline const T* const * Array3D<T>::operator[](int i) const +{ return v_[i]; } + +template <class T> +Array3D<T> & Array3D<T>::operator=(const T &a) +{ + for (int i=0; i<m_; i++) + for (int j=0; j<n_; j++) + for (int k=0; k<g_; k++) + v_[i][j][k] = a; + + return *this; +} + +template <class T> +Array3D<T> Array3D<T>::copy() const +{ + Array3D A(m_, n_, g_); + for (int i=0; i<m_; i++) + for (int j=0; j<n_; j++) + for (int k=0; k<g_; k++) + A.v_[i][j][k] = v_[i][j][k]; + + return A; +} + + +template <class T> +Array3D<T> & Array3D<T>::inject(const Array3D &A) +{ + if (A.m_ == m_ && A.n_ == n_ && A.g_ == g_) + + for (int i=0; i<m_; i++) + for (int j=0; j<n_; j++) + for (int k=0; k<g_; k++) + v_[i][j][k] = A.v_[i][j][k]; + + return *this; +} + + + +template <class T> +Array3D<T> & Array3D<T>::ref(const Array3D<T> &A) +{ + if (this != &A) + { + m_ = A.m_; + n_ = A.n_; + g_ = A.g_; + v_ = A.v_; + data_ = A.data_; + } + return *this; +} + +template <class T> +Array3D<T> & Array3D<T>::operator=(const Array3D<T> &A) +{ + return ref(A); +} + + +template <class T> +inline int Array3D<T>::dim1() const { return m_; } + +template <class T> +inline int Array3D<T>::dim2() const { return n_; } + +template <class T> +inline int Array3D<T>::dim3() const { return g_; } + + + +template <class T> +Array3D<T>::~Array3D() {} + +template <class T> +inline Array3D<T>::operator T***() +{ + return v_; +} + + +template <class T> +inline Array3D<T>::operator const T***() +{ + return v_; +} + +/* extended interface */ +template <class T> +Array3D<T> Array3D<T>::subarray(int i0, int i1, int j0, + int j1, int k0, int k1) +{ + + /* check that ranges are valid. */ + if (!( 0 <= i0 && i0 <= i1 && i1 < m_ && + 0 <= j0 && j0 <= j1 && j1 < n_ && + 0 <= k0 && k0 <= k1 && k1 < g_)) + return Array3D<T>(); /* null array */ + + + Array3D<T> A; + A.data_ = data_; + A.m_ = i1-i0+1; + A.n_ = j1-j0+1; + A.g_ = k1-k0+1; + A.v_ = Array2D<T*>(A.m_,A.n_); + T* p = &(data_[0]) + i0*n_*g_ + j0*g_ + k0; + + for (int i=0; i<A.m_; i++) + { + T* ping = p + i*n_*g_; + for (int j=0; j<A.n_; j++) + A.v_[i][j] = ping + j*g_ ; + } + + return A; +} + + + +} /* namespace TNT */ + +#endif +/* TNT_ARRAY3D_H */ + diff --git a/intern/smoke/intern/tnt/tnt_array3d_utils.h b/intern/smoke/intern/tnt/tnt_array3d_utils.h new file mode 100644 index 00000000000..5acdc1d5dd2 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_array3d_utils.h @@ -0,0 +1,236 @@ + + +#ifndef TNT_ARRAY3D_UTILS_H +#define TNT_ARRAY3D_UTILS_H + +#include <cstdlib> +#include <cassert> + +namespace TNT +{ + + +template <class T> +std::ostream& operator<<(std::ostream &s, const Array3D<T> &A) +{ + int M=A.dim1(); + int N=A.dim2(); + int K=A.dim3(); + + s << M << " " << N << " " << K << "\n"; + + for (int i=0; i<M; i++) + { + for (int j=0; j<N; j++) + { + for (int k=0; k<K; k++) + s << A[i][j][k] << " "; + s << "\n"; + } + s << "\n"; + } + + + return s; +} + +template <class T> +std::istream& operator>>(std::istream &s, Array3D<T> &A) +{ + + int M, N, K; + + s >> M >> N >> K; + + Array3D<T> B(M,N,K); + + for (int i=0; i<M; i++) + for (int j=0; j<N; j++) + for (int k=0; k<K; k++) + s >> B[i][j][k]; + + A = B; + return s; +} + + + +template <class T> +Array3D<T> operator+(const Array3D<T> &A, const Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() != m || B.dim2() != n || B.dim3() != p ) + return Array3D<T>(); + + else + { + Array3D<T> C(m,n,p); + + for (int i=0; i<m; i++) + for (int j=0; j<n; j++) + for (int k=0; k<p; k++) + C[i][j][k] = A[i][j][k] + B[i][j][k]; + + return C; + } +} + + +template <class T> +Array3D<T> operator-(const Array3D<T> &A, const Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() != m || B.dim2() != n || B.dim3() != p ) + return Array3D<T>(); + + else + { + Array3D<T> C(m,n,p); + + for (int i=0; i<m; i++) + for (int j=0; j<n; j++) + for (int k=0; k<p; k++) + C[i][j][k] = A[i][j][k] - B[i][j][k]; + + return C; + } +} + + + + +template <class T> +Array3D<T> operator*(const Array3D<T> &A, const Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() != m || B.dim2() != n || B.dim3() != p ) + return Array3D<T>(); + + else + { + Array3D<T> C(m,n,p); + + for (int i=0; i<m; i++) + for (int j=0; j<n; j++) + for (int k=0; k<p; k++) + C[i][j][k] = A[i][j][k] * B[i][j][k]; + + return C; + } +} + + +template <class T> +Array3D<T> operator/(const Array3D<T> &A, const Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() != m || B.dim2() != n || B.dim3() != p ) + return Array3D<T>(); + + else + { + Array3D<T> C(m,n,p); + + for (int i=0; i<m; i++) + for (int j=0; j<n; j++) + for (int k=0; k<p; k++) + C[i][j][k] = A[i][j][k] / B[i][j][k]; + + return C; + } +} + + + +template <class T> +Array3D<T>& operator+=(Array3D<T> &A, const Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() == m && B.dim2() == n && B.dim3() == p ) + { + for (int i=0; i<m; i++) + for (int j=0; j<n; j++) + for (int k=0; k<p; k++) + A[i][j][k] += B[i][j][k]; + } + + return A; +} + +template <class T> +Array3D<T>& operator-=(Array3D<T> &A, const Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() == m && B.dim2() == n && B.dim3() == p ) + { + for (int i=0; i<m; i++) + for (int j=0; j<n; j++) + for (int k=0; k<p; k++) + A[i][j][k] -= B[i][j][k]; + } + + return A; +} + +template <class T> +Array3D<T>& operator*=(Array3D<T> &A, const Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() == m && B.dim2() == n && B.dim3() == p ) + { + for (int i=0; i<m; i++) + for (int j=0; j<n; j++) + for (int k=0; k<p; k++) + A[i][j][k] *= B[i][j][k]; + } + + return A; +} + + +template <class T> +Array3D<T>& operator/=(Array3D<T> &A, const Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() == m && B.dim2() == n && B.dim3() == p ) + { + for (int i=0; i<m; i++) + for (int j=0; j<n; j++) + for (int k=0; k<p; k++) + A[i][j][k] /= B[i][j][k]; + } + + return A; +} + + + + + +} // namespace TNT + +#endif diff --git a/intern/smoke/intern/tnt/tnt_cmat.h b/intern/smoke/intern/tnt/tnt_cmat.h new file mode 100644 index 00000000000..5ff4c4898c3 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_cmat.h @@ -0,0 +1,580 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + +// C compatible matrix: row-oriented, 0-based [i][j] and 1-based (i,j) indexing +// + +#ifndef TNT_CMAT_H +#define TNT_CMAT_H + +#include "tnt_subscript.h" +#include "tnt_vec.h" +#include <cstdlib> +#include <cassert> +#include <iostream> +#include <sstream> + +namespace TNT +{ + + +template <class T> +class Matrix +{ + + + public: + + typedef Subscript size_type; + typedef T value_type; + typedef T element_type; + typedef T* pointer; + typedef T* iterator; + typedef T& reference; + typedef const T* const_iterator; + typedef const T& const_reference; + + Subscript lbound() const { return 1;} + + protected: + Subscript m_; + Subscript n_; + Subscript mn_; // total size + T* v_; + T** row_; + T* vm1_ ; // these point to the same data, but are 1-based + T** rowm1_; + + // internal helper function to create the array + // of row pointers + + void initialize(Subscript M, Subscript N) + { + mn_ = M*N; + m_ = M; + n_ = N; + + v_ = new T[mn_]; + row_ = new T*[M]; + rowm1_ = new T*[M]; + + assert(v_ != NULL); + assert(row_ != NULL); + assert(rowm1_ != NULL); + + T* p = v_; + vm1_ = v_ - 1; + for (Subscript i=0; i<M; i++) + { + row_[i] = p; + rowm1_[i] = p-1; + p += N ; + + } + + rowm1_ -- ; // compensate for 1-based offset + } + + void copy(const T* v) + { + Subscript N = m_ * n_; + Subscript i; + +#ifdef TNT_UNROLL_LOOPS + Subscript Nmod4 = N & 3; + Subscript N4 = N - Nmod4; + + for (i=0; i<N4; i+=4) + { + v_[i] = v[i]; + v_[i+1] = v[i+1]; + v_[i+2] = v[i+2]; + v_[i+3] = v[i+3]; + } + + for (i=N4; i< N; i++) + v_[i] = v[i]; +#else + + for (i=0; i< N; i++) + v_[i] = v[i]; +#endif + } + + void set(const T& val) + { + Subscript N = m_ * n_; + Subscript i; + +#ifdef TNT_UNROLL_LOOPS + Subscript Nmod4 = N & 3; + Subscript N4 = N - Nmod4; + + for (i=0; i<N4; i+=4) + { + v_[i] = val; + v_[i+1] = val; + v_[i+2] = val; + v_[i+3] = val; + } + + for (i=N4; i< N; i++) + v_[i] = val; +#else + + for (i=0; i< N; i++) + v_[i] = val; + +#endif + } + + + + void destroy() + { + /* do nothing, if no memory has been previously allocated */ + if (v_ == NULL) return ; + + /* if we are here, then matrix was previously allocated */ + if (v_ != NULL) delete [] (v_); + if (row_ != NULL) delete [] (row_); + + /* return rowm1_ back to original value */ + rowm1_ ++; + if (rowm1_ != NULL ) delete [] (rowm1_); + } + + + public: + + operator T**(){ return row_; } + operator T**() const { return row_; } + + + Subscript size() const { return mn_; } + + // constructors + + Matrix() : m_(0), n_(0), mn_(0), v_(0), row_(0), vm1_(0), rowm1_(0) {}; + + Matrix(const Matrix<T> &A) + { + initialize(A.m_, A.n_); + copy(A.v_); + } + + Matrix(Subscript M, Subscript N, const T& value = T()) + { + initialize(M,N); + set(value); + } + + Matrix(Subscript M, Subscript N, const T* v) + { + initialize(M,N); + copy(v); + } + + Matrix(Subscript M, Subscript N, const char *s) + { + initialize(M,N); + //std::istrstream ins(s); + std::istringstream ins(s); + + Subscript i, j; + + for (i=0; i<M; i++) + for (j=0; j<N; j++) + ins >> row_[i][j]; + } + + // destructor + // + ~Matrix() + { + destroy(); + } + + + // reallocating + // + Matrix<T>& newsize(Subscript M, Subscript N) + { + if (num_rows() == M && num_cols() == N) + return *this; + + destroy(); + initialize(M,N); + + return *this; + } + + + + + // assignments + // + Matrix<T>& operator=(const Matrix<T> &A) + { + if (v_ == A.v_) + return *this; + + if (m_ == A.m_ && n_ == A.n_) // no need to re-alloc + copy(A.v_); + + else + { + destroy(); + initialize(A.m_, A.n_); + copy(A.v_); + } + + return *this; + } + + Matrix<T>& operator=(const T& scalar) + { + set(scalar); + return *this; + } + + + Subscript dim(Subscript d) const + { +#ifdef TNT_BOUNDS_CHECK + assert( d >= 1); + assert( d <= 2); +#endif + return (d==1) ? m_ : ((d==2) ? n_ : 0); + } + + Subscript num_rows() const { return m_; } + Subscript num_cols() const { return n_; } + + + + + inline T* operator[](Subscript i) + { +#ifdef TNT_BOUNDS_CHECK + assert(0<=i); + assert(i < m_) ; +#endif + return row_[i]; + } + + inline const T* operator[](Subscript i) const + { +#ifdef TNT_BOUNDS_CHECK + assert(0<=i); + assert(i < m_) ; +#endif + return row_[i]; + } + + inline reference operator()(Subscript i) + { +#ifdef TNT_BOUNDS_CHECK + assert(1<=i); + assert(i <= mn_) ; +#endif + return vm1_[i]; + } + + inline const_reference operator()(Subscript i) const + { +#ifdef TNT_BOUNDS_CHECK + assert(1<=i); + assert(i <= mn_) ; +#endif + return vm1_[i]; + } + + + + inline reference operator()(Subscript i, Subscript j) + { +#ifdef TNT_BOUNDS_CHECK + assert(1<=i); + assert(i <= m_) ; + assert(1<=j); + assert(j <= n_); +#endif + return rowm1_[i][j]; + } + + + + inline const_reference operator() (Subscript i, Subscript j) const + { +#ifdef TNT_BOUNDS_CHECK + assert(1<=i); + assert(i <= m_) ; + assert(1<=j); + assert(j <= n_); +#endif + return rowm1_[i][j]; + } + + + + +}; + + +/* *************************** I/O ********************************/ + +template <class T> +std::ostream& operator<<(std::ostream &s, const Matrix<T> &A) +{ + Subscript M=A.num_rows(); + Subscript N=A.num_cols(); + + s << M << " " << N << "\n"; + + for (Subscript i=0; i<M; i++) + { + for (Subscript j=0; j<N; j++) + { + s << A[i][j] << " "; + } + s << "\n"; + } + + + return s; +} + +template <class T> +std::istream& operator>>(std::istream &s, Matrix<T> &A) +{ + + Subscript M, N; + + s >> M >> N; + + if ( !(M == A.num_rows() && N == A.num_cols() )) + { + A.newsize(M,N); + } + + + for (Subscript i=0; i<M; i++) + for (Subscript j=0; j<N; j++) + { + s >> A[i][j]; + } + + + return s; +} + +// *******************[ basic matrix algorithms ]*************************** + + +template <class T> +Matrix<T> operator+(const Matrix<T> &A, + const Matrix<T> &B) +{ + Subscript M = A.num_rows(); + Subscript N = A.num_cols(); + + assert(M==B.num_rows()); + assert(N==B.num_cols()); + + Matrix<T> tmp(M,N); + Subscript i,j; + + for (i=0; i<M; i++) + for (j=0; j<N; j++) + tmp[i][j] = A[i][j] + B[i][j]; + + return tmp; +} + +template <class T> +Matrix<T> operator-(const Matrix<T> &A, + const Matrix<T> &B) +{ + Subscript M = A.num_rows(); + Subscript N = A.num_cols(); + + assert(M==B.num_rows()); + assert(N==B.num_cols()); + + Matrix<T> tmp(M,N); + Subscript i,j; + + for (i=0; i<M; i++) + for (j=0; j<N; j++) + tmp[i][j] = A[i][j] - B[i][j]; + + return tmp; +} + +template <class T> +Matrix<T> mult_element(const Matrix<T> &A, + const Matrix<T> &B) +{ + Subscript M = A.num_rows(); + Subscript N = A.num_cols(); + + assert(M==B.num_rows()); + assert(N==B.num_cols()); + + Matrix<T> tmp(M,N); + Subscript i,j; + + for (i=0; i<M; i++) + for (j=0; j<N; j++) + tmp[i][j] = A[i][j] * B[i][j]; + + return tmp; +} + + +template <class T> +Matrix<T> transpose(const Matrix<T> &A) +{ + Subscript M = A.num_rows(); + Subscript N = A.num_cols(); + + Matrix<T> S(N,M); + Subscript i, j; + + for (i=0; i<M; i++) + for (j=0; j<N; j++) + S[j][i] = A[i][j]; + + return S; +} + + + +template <class T> +inline Matrix<T> matmult(const Matrix<T> &A, + const Matrix<T> &B) +{ + +#ifdef TNT_BOUNDS_CHECK + assert(A.num_cols() == B.num_rows()); +#endif + + Subscript M = A.num_rows(); + Subscript N = A.num_cols(); + Subscript K = B.num_cols(); + + Matrix<T> tmp(M,K); + T sum; + + for (Subscript i=0; i<M; i++) + for (Subscript k=0; k<K; k++) + { + sum = 0; + for (Subscript j=0; j<N; j++) + sum = sum + A[i][j] * B[j][k]; + + tmp[i][k] = sum; + } + + return tmp; +} + +template <class T> +inline Matrix<T> operator*(const Matrix<T> &A, + const Matrix<T> &B) +{ + return matmult(A,B); +} + +template <class T> +inline int matmult(Matrix<T>& C, const Matrix<T> &A, + const Matrix<T> &B) +{ + + assert(A.num_cols() == B.num_rows()); + + Subscript M = A.num_rows(); + Subscript N = A.num_cols(); + Subscript K = B.num_cols(); + + C.newsize(M,K); + + T sum; + + const T* row_i; + const T* col_k; + + for (Subscript i=0; i<M; i++) + for (Subscript k=0; k<K; k++) + { + row_i = &(A[i][0]); + col_k = &(B[0][k]); + sum = 0; + for (Subscript j=0; j<N; j++) + { + sum += *row_i * *col_k; + row_i++; + col_k += K; + } + C[i][k] = sum; + } + + return 0; +} + + +template <class T> +Vector<T> matmult(const Matrix<T> &A, const Vector<T> &x) +{ + +#ifdef TNT_BOUNDS_CHECK + assert(A.num_cols() == x.dim()); +#endif + + Subscript M = A.num_rows(); + Subscript N = A.num_cols(); + + Vector<T> tmp(M); + T sum; + + for (Subscript i=0; i<M; i++) + { + sum = 0; + const T* rowi = A[i]; + for (Subscript j=0; j<N; j++) + sum = sum + rowi[j] * x[j]; + + tmp[i] = sum; + } + + return tmp; +} + +template <class T> +inline Vector<T> operator*(const Matrix<T> &A, const Vector<T> &x) +{ + return matmult(A,x); +} + +} // namespace TNT + +#endif +// CMAT_H diff --git a/intern/smoke/intern/tnt/tnt_fortran_array1d.h b/intern/smoke/intern/tnt/tnt_fortran_array1d.h new file mode 100644 index 00000000000..ad3bba0c0a7 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_fortran_array1d.h @@ -0,0 +1,267 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + + +#ifndef TNT_FORTRAN_ARRAY1D_H +#define TNT_FORTRAN_ARRAY1D_H + +#include <cstdlib> +#include <iostream> + +#ifdef TNT_BOUNDS_CHECK +#include <assert.h> +#endif + + +#include "tnt_i_refvec.h" + +namespace TNT +{ + +template <class T> +class Fortran_Array1D +{ + + private: + + i_refvec<T> v_; + int n_; + T* data_; /* this normally points to v_.begin(), but + * could also point to a portion (subvector) + * of v_. + */ + + void initialize_(int n); + void copy_(T* p, const T* q, int len) const; + void set_(T* begin, T* end, const T& val); + + + public: + + typedef T value_type; + + + Fortran_Array1D(); + explicit Fortran_Array1D(int n); + Fortran_Array1D(int n, const T &a); + Fortran_Array1D(int n, T *a); + inline Fortran_Array1D(const Fortran_Array1D &A); + inline Fortran_Array1D & operator=(const T &a); + inline Fortran_Array1D & operator=(const Fortran_Array1D &A); + inline Fortran_Array1D & ref(const Fortran_Array1D &A); + Fortran_Array1D copy() const; + Fortran_Array1D & inject(const Fortran_Array1D & A); + inline T& operator()(int i); + inline const T& operator()(int i) const; + inline int dim1() const; + inline int dim() const; + ~Fortran_Array1D(); + + + /* ... extended interface ... */ + + inline int ref_count() const; + inline Fortran_Array1D<T> subarray(int i0, int i1); + +}; + + + + +template <class T> +Fortran_Array1D<T>::Fortran_Array1D() : v_(), n_(0), data_(0) {} + +template <class T> +Fortran_Array1D<T>::Fortran_Array1D(const Fortran_Array1D<T> &A) : v_(A.v_), n_(A.n_), + data_(A.data_) +{ +#ifdef TNT_DEBUG + std::cout << "Created Fortran_Array1D(const Fortran_Array1D<T> &A) \n"; +#endif + +} + + +template <class T> +Fortran_Array1D<T>::Fortran_Array1D(int n) : v_(n), n_(n), data_(v_.begin()) +{ +#ifdef TNT_DEBUG + std::cout << "Created Fortran_Array1D(int n) \n"; +#endif +} + +template <class T> +Fortran_Array1D<T>::Fortran_Array1D(int n, const T &val) : v_(n), n_(n), data_(v_.begin()) +{ +#ifdef TNT_DEBUG + std::cout << "Created Fortran_Array1D(int n, const T& val) \n"; +#endif + set_(data_, data_+ n, val); + +} + +template <class T> +Fortran_Array1D<T>::Fortran_Array1D(int n, T *a) : v_(a), n_(n) , data_(v_.begin()) +{ +#ifdef TNT_DEBUG + std::cout << "Created Fortran_Array1D(int n, T* a) \n"; +#endif +} + +template <class T> +inline T& Fortran_Array1D<T>::operator()(int i) +{ +#ifdef TNT_BOUNDS_CHECK + assert(i>= 1); + assert(i <= n_); +#endif + return data_[i-1]; +} + +template <class T> +inline const T& Fortran_Array1D<T>::operator()(int i) const +{ +#ifdef TNT_BOUNDS_CHECK + assert(i>= 1); + assert(i <= n_); +#endif + return data_[i-1]; +} + + + + +template <class T> +Fortran_Array1D<T> & Fortran_Array1D<T>::operator=(const T &a) +{ + set_(data_, data_+n_, a); + return *this; +} + +template <class T> +Fortran_Array1D<T> Fortran_Array1D<T>::copy() const +{ + Fortran_Array1D A( n_); + copy_(A.data_, data_, n_); + + return A; +} + + +template <class T> +Fortran_Array1D<T> & Fortran_Array1D<T>::inject(const Fortran_Array1D &A) +{ + if (A.n_ == n_) + copy_(data_, A.data_, n_); + + return *this; +} + + + + + +template <class T> +Fortran_Array1D<T> & Fortran_Array1D<T>::ref(const Fortran_Array1D<T> &A) +{ + if (this != &A) + { + v_ = A.v_; /* operator= handles the reference counting. */ + n_ = A.n_; + data_ = A.data_; + + } + return *this; +} + +template <class T> +Fortran_Array1D<T> & Fortran_Array1D<T>::operator=(const Fortran_Array1D<T> &A) +{ + return ref(A); +} + +template <class T> +inline int Fortran_Array1D<T>::dim1() const { return n_; } + +template <class T> +inline int Fortran_Array1D<T>::dim() const { return n_; } + +template <class T> +Fortran_Array1D<T>::~Fortran_Array1D() {} + + +/* ............................ exented interface ......................*/ + +template <class T> +inline int Fortran_Array1D<T>::ref_count() const +{ + return v_.ref_count(); +} + +template <class T> +inline Fortran_Array1D<T> Fortran_Array1D<T>::subarray(int i0, int i1) +{ +#ifdef TNT_DEBUG + std::cout << "entered subarray. \n"; +#endif + if ((i0 > 0) && (i1 < n_) || (i0 <= i1)) + { + Fortran_Array1D<T> X(*this); /* create a new instance of this array. */ + X.n_ = i1-i0+1; + X.data_ += i0; + + return X; + } + else + { +#ifdef TNT_DEBUG + std::cout << "subarray: null return.\n"; +#endif + return Fortran_Array1D<T>(); + } +} + + +/* private internal functions */ + + +template <class T> +void Fortran_Array1D<T>::set_(T* begin, T* end, const T& a) +{ + for (T* p=begin; p<end; p++) + *p = a; + +} + +template <class T> +void Fortran_Array1D<T>::copy_(T* p, const T* q, int len) const +{ + T *end = p + len; + while (p<end ) + *p++ = *q++; + +} + + +} /* namespace TNT */ + +#endif +/* TNT_FORTRAN_ARRAY1D_H */ + diff --git a/intern/smoke/intern/tnt/tnt_fortran_array1d_utils.h b/intern/smoke/intern/tnt/tnt_fortran_array1d_utils.h new file mode 100644 index 00000000000..b037b173f77 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_fortran_array1d_utils.h @@ -0,0 +1,242 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + +#ifndef TNT_FORTRAN_ARRAY1D_UTILS_H +#define TNT_FORTRAN_ARRAY1D_UTILS_H + +#include <iostream> + +namespace TNT +{ + + +/** + Write an array to a character outstream. Output format is one that can + be read back in via the in-stream operator: one integer + denoting the array dimension (n), followed by n elements, + one per line. + +*/ +template <class T> +std::ostream& operator<<(std::ostream &s, const Fortran_Array1D<T> &A) +{ + int N=A.dim1(); + + s << N << "\n"; + for (int j=1; j<=N; j++) + { + s << A(j) << "\n"; + } + s << "\n"; + + return s; +} + +/** + Read an array from a character stream. Input format + is one integer, denoting the dimension (n), followed + by n whitespace-separated elments. Newlines are ignored + + <p> + Note: the array being read into references new memory + storage. If the intent is to fill an existing conformant + array, use <code> cin >> B; A.inject(B) ); </code> + instead or read the elements in one-a-time by hand. + + @param s the charater to read from (typically <code>std::in</code>) + @param A the array to read into. +*/ +template <class T> +std::istream& operator>>(std::istream &s, Fortran_Array1D<T> &A) +{ + int N; + s >> N; + + Fortran_Array1D<T> B(N); + for (int i=1; i<=N; i++) + s >> B(i); + A = B; + return s; +} + + +template <class T> +Fortran_Array1D<T> operator+(const Fortran_Array1D<T> &A, const Fortran_Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() != n ) + return Fortran_Array1D<T>(); + + else + { + Fortran_Array1D<T> C(n); + + for (int i=1; i<=n; i++) + { + C(i) = A(i) + B(i); + } + return C; + } +} + + + +template <class T> +Fortran_Array1D<T> operator-(const Fortran_Array1D<T> &A, const Fortran_Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() != n ) + return Fortran_Array1D<T>(); + + else + { + Fortran_Array1D<T> C(n); + + for (int i=1; i<=n; i++) + { + C(i) = A(i) - B(i); + } + return C; + } +} + + +template <class T> +Fortran_Array1D<T> operator*(const Fortran_Array1D<T> &A, const Fortran_Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() != n ) + return Fortran_Array1D<T>(); + + else + { + Fortran_Array1D<T> C(n); + + for (int i=1; i<=n; i++) + { + C(i) = A(i) * B(i); + } + return C; + } +} + + +template <class T> +Fortran_Array1D<T> operator/(const Fortran_Array1D<T> &A, const Fortran_Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() != n ) + return Fortran_Array1D<T>(); + + else + { + Fortran_Array1D<T> C(n); + + for (int i=1; i<=n; i++) + { + C(i) = A(i) / B(i); + } + return C; + } +} + + + + + + + + + +template <class T> +Fortran_Array1D<T>& operator+=(Fortran_Array1D<T> &A, const Fortran_Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() == n) + { + for (int i=1; i<=n; i++) + { + A(i) += B(i); + } + } + return A; +} + + + + +template <class T> +Fortran_Array1D<T>& operator-=(Fortran_Array1D<T> &A, const Fortran_Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() == n) + { + for (int i=1; i<=n; i++) + { + A(i) -= B(i); + } + } + return A; +} + + + +template <class T> +Fortran_Array1D<T>& operator*=(Fortran_Array1D<T> &A, const Fortran_Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() == n) + { + for (int i=1; i<=n; i++) + { + A(i) *= B(i); + } + } + return A; +} + + + + +template <class T> +Fortran_Array1D<T>& operator/=(Fortran_Array1D<T> &A, const Fortran_Array1D<T> &B) +{ + int n = A.dim1(); + + if (B.dim1() == n) + { + for (int i=1; i<=n; i++) + { + A(i) /= B(i); + } + } + return A; +} + + +} // namespace TNT + +#endif diff --git a/intern/smoke/intern/tnt/tnt_fortran_array2d.h b/intern/smoke/intern/tnt/tnt_fortran_array2d.h new file mode 100644 index 00000000000..f3075366d37 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_fortran_array2d.h @@ -0,0 +1,225 @@ +/* +* +* Template Numerical Toolkit (TNT): Two-dimensional Fortran numerical array +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + + +#ifndef TNT_FORTRAN_ARRAY2D_H +#define TNT_FORTRAN_ARRAY2D_H + +#include <cstdlib> +#include <iostream> + +#ifdef TNT_BOUNDS_CHECK +#include <assert.h> +#endif + +#include "tnt_i_refvec.h" + +namespace TNT +{ + +template <class T> +class Fortran_Array2D +{ + + + private: + i_refvec<T> v_; + int m_; + int n_; + T* data_; + + + void initialize_(int n); + void copy_(T* p, const T* q, int len); + void set_(T* begin, T* end, const T& val); + + public: + + typedef T value_type; + + Fortran_Array2D(); + Fortran_Array2D(int m, int n); + Fortran_Array2D(int m, int n, T *a); + Fortran_Array2D(int m, int n, const T &a); + inline Fortran_Array2D(const Fortran_Array2D &A); + inline Fortran_Array2D & operator=(const T &a); + inline Fortran_Array2D & operator=(const Fortran_Array2D &A); + inline Fortran_Array2D & ref(const Fortran_Array2D &A); + Fortran_Array2D copy() const; + Fortran_Array2D & inject(const Fortran_Array2D & A); + inline T& operator()(int i, int j); + inline const T& operator()(int i, int j) const ; + inline int dim1() const; + inline int dim2() const; + ~Fortran_Array2D(); + + /* extended interface */ + + inline int ref_count() const; + +}; + +template <class T> +Fortran_Array2D<T>::Fortran_Array2D() : v_(), m_(0), n_(0), data_(0) {} + + +template <class T> +Fortran_Array2D<T>::Fortran_Array2D(const Fortran_Array2D<T> &A) : v_(A.v_), + m_(A.m_), n_(A.n_), data_(A.data_) {} + + + +template <class T> +Fortran_Array2D<T>::Fortran_Array2D(int m, int n) : v_(m*n), m_(m), n_(n), + data_(v_.begin()) {} + +template <class T> +Fortran_Array2D<T>::Fortran_Array2D(int m, int n, const T &val) : + v_(m*n), m_(m), n_(n), data_(v_.begin()) +{ + set_(data_, data_+m*n, val); +} + + +template <class T> +Fortran_Array2D<T>::Fortran_Array2D(int m, int n, T *a) : v_(a), + m_(m), n_(n), data_(v_.begin()) {} + + + + +template <class T> +inline T& Fortran_Array2D<T>::operator()(int i, int j) +{ +#ifdef TNT_BOUNDS_CHECK + assert(i >= 1); + assert(i <= m_); + assert(j >= 1); + assert(j <= n_); +#endif + + return v_[ (j-1)*m_ + (i-1) ]; + +} + +template <class T> +inline const T& Fortran_Array2D<T>::operator()(int i, int j) const +{ +#ifdef TNT_BOUNDS_CHECK + assert(i >= 1); + assert(i <= m_); + assert(j >= 1); + assert(j <= n_); +#endif + + return v_[ (j-1)*m_ + (i-1) ]; + +} + + +template <class T> +Fortran_Array2D<T> & Fortran_Array2D<T>::operator=(const T &a) +{ + set_(data_, data_+m_*n_, a); + return *this; +} + +template <class T> +Fortran_Array2D<T> Fortran_Array2D<T>::copy() const +{ + + Fortran_Array2D B(m_,n_); + + B.inject(*this); + return B; +} + + +template <class T> +Fortran_Array2D<T> & Fortran_Array2D<T>::inject(const Fortran_Array2D &A) +{ + if (m_ == A.m_ && n_ == A.n_) + copy_(data_, A.data_, m_*n_); + + return *this; +} + + + +template <class T> +Fortran_Array2D<T> & Fortran_Array2D<T>::ref(const Fortran_Array2D<T> &A) +{ + if (this != &A) + { + v_ = A.v_; + m_ = A.m_; + n_ = A.n_; + data_ = A.data_; + } + return *this; +} + +template <class T> +Fortran_Array2D<T> & Fortran_Array2D<T>::operator=(const Fortran_Array2D<T> &A) +{ + return ref(A); +} + +template <class T> +inline int Fortran_Array2D<T>::dim1() const { return m_; } + +template <class T> +inline int Fortran_Array2D<T>::dim2() const { return n_; } + + +template <class T> +Fortran_Array2D<T>::~Fortran_Array2D() +{ +} + +template <class T> +inline int Fortran_Array2D<T>::ref_count() const { return v_.ref_count(); } + + + + +template <class T> +void Fortran_Array2D<T>::set_(T* begin, T* end, const T& a) +{ + for (T* p=begin; p<end; p++) + *p = a; + +} + +template <class T> +void Fortran_Array2D<T>::copy_(T* p, const T* q, int len) +{ + T *end = p + len; + while (p<end ) + *p++ = *q++; + +} + + +} /* namespace TNT */ + +#endif +/* TNT_FORTRAN_ARRAY2D_H */ + diff --git a/intern/smoke/intern/tnt/tnt_fortran_array2d_utils.h b/intern/smoke/intern/tnt/tnt_fortran_array2d_utils.h new file mode 100644 index 00000000000..bb6867368cf --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_fortran_array2d_utils.h @@ -0,0 +1,236 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + +#ifndef TNT_FORTRAN_ARRAY2D_UTILS_H +#define TNT_FORTRAN_ARRAY2D_UTILS_H + +#include <iostream> + +namespace TNT +{ + + +template <class T> +std::ostream& operator<<(std::ostream &s, const Fortran_Array2D<T> &A) +{ + int M=A.dim1(); + int N=A.dim2(); + + s << M << " " << N << "\n"; + + for (int i=1; i<=M; i++) + { + for (int j=1; j<=N; j++) + { + s << A(i,j) << " "; + } + s << "\n"; + } + + + return s; +} + +template <class T> +std::istream& operator>>(std::istream &s, Fortran_Array2D<T> &A) +{ + + int M, N; + + s >> M >> N; + + Fortran_Array2D<T> B(M,N); + + for (int i=1; i<=M; i++) + for (int j=1; j<=N; j++) + { + s >> B(i,j); + } + + A = B; + return s; +} + + + + +template <class T> +Fortran_Array2D<T> operator+(const Fortran_Array2D<T> &A, const Fortran_Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() != m || B.dim2() != n ) + return Fortran_Array2D<T>(); + + else + { + Fortran_Array2D<T> C(m,n); + + for (int i=1; i<=m; i++) + { + for (int j=1; j<=n; j++) + C(i,j) = A(i,j) + B(i,j); + } + return C; + } +} + +template <class T> +Fortran_Array2D<T> operator-(const Fortran_Array2D<T> &A, const Fortran_Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() != m || B.dim2() != n ) + return Fortran_Array2D<T>(); + + else + { + Fortran_Array2D<T> C(m,n); + + for (int i=1; i<=m; i++) + { + for (int j=1; j<=n; j++) + C(i,j) = A(i,j) - B(i,j); + } + return C; + } +} + + +template <class T> +Fortran_Array2D<T> operator*(const Fortran_Array2D<T> &A, const Fortran_Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() != m || B.dim2() != n ) + return Fortran_Array2D<T>(); + + else + { + Fortran_Array2D<T> C(m,n); + + for (int i=1; i<=m; i++) + { + for (int j=1; j<=n; j++) + C(i,j) = A(i,j) * B(i,j); + } + return C; + } +} + + +template <class T> +Fortran_Array2D<T> operator/(const Fortran_Array2D<T> &A, const Fortran_Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() != m || B.dim2() != n ) + return Fortran_Array2D<T>(); + + else + { + Fortran_Array2D<T> C(m,n); + + for (int i=1; i<=m; i++) + { + for (int j=1; j<=n; j++) + C(i,j) = A(i,j) / B(i,j); + } + return C; + } +} + + + +template <class T> +Fortran_Array2D<T>& operator+=(Fortran_Array2D<T> &A, const Fortran_Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() == m || B.dim2() == n ) + { + for (int i=1; i<=m; i++) + { + for (int j=1; j<=n; j++) + A(i,j) += B(i,j); + } + } + return A; +} + +template <class T> +Fortran_Array2D<T>& operator-=(Fortran_Array2D<T> &A, const Fortran_Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() == m || B.dim2() == n ) + { + for (int i=1; i<=m; i++) + { + for (int j=1; j<=n; j++) + A(i,j) -= B(i,j); + } + } + return A; +} + +template <class T> +Fortran_Array2D<T>& operator*=(Fortran_Array2D<T> &A, const Fortran_Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() == m || B.dim2() == n ) + { + for (int i=1; i<=m; i++) + { + for (int j=1; j<=n; j++) + A(i,j) *= B(i,j); + } + } + return A; +} + +template <class T> +Fortran_Array2D<T>& operator/=(Fortran_Array2D<T> &A, const Fortran_Array2D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + + if (B.dim1() == m || B.dim2() == n ) + { + for (int i=1; i<=m; i++) + { + for (int j=1; j<=n; j++) + A(i,j) /= B(i,j); + } + } + return A; +} + +} // namespace TNT + +#endif diff --git a/intern/smoke/intern/tnt/tnt_fortran_array3d.h b/intern/smoke/intern/tnt/tnt_fortran_array3d.h new file mode 100644 index 00000000000..e51affba4ea --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_fortran_array3d.h @@ -0,0 +1,223 @@ +/* +* +* Template Numerical Toolkit (TNT): Three-dimensional Fortran numerical array +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + + +#ifndef TNT_FORTRAN_ARRAY3D_H +#define TNT_FORTRAN_ARRAY3D_H + +#include <cstdlib> +#include <iostream> +#ifdef TNT_BOUNDS_CHECK +#include <assert.h> +#endif +#include "tnt_i_refvec.h" + +namespace TNT +{ + +template <class T> +class Fortran_Array3D +{ + + + private: + + + i_refvec<T> v_; + int m_; + int n_; + int k_; + T* data_; + + public: + + typedef T value_type; + + Fortran_Array3D(); + Fortran_Array3D(int m, int n, int k); + Fortran_Array3D(int m, int n, int k, T *a); + Fortran_Array3D(int m, int n, int k, const T &a); + inline Fortran_Array3D(const Fortran_Array3D &A); + inline Fortran_Array3D & operator=(const T &a); + inline Fortran_Array3D & operator=(const Fortran_Array3D &A); + inline Fortran_Array3D & ref(const Fortran_Array3D &A); + Fortran_Array3D copy() const; + Fortran_Array3D & inject(const Fortran_Array3D & A); + inline T& operator()(int i, int j, int k); + inline const T& operator()(int i, int j, int k) const ; + inline int dim1() const; + inline int dim2() const; + inline int dim3() const; + inline int ref_count() const; + ~Fortran_Array3D(); + + +}; + +template <class T> +Fortran_Array3D<T>::Fortran_Array3D() : v_(), m_(0), n_(0), k_(0), data_(0) {} + + +template <class T> +Fortran_Array3D<T>::Fortran_Array3D(const Fortran_Array3D<T> &A) : + v_(A.v_), m_(A.m_), n_(A.n_), k_(A.k_), data_(A.data_) {} + + + +template <class T> +Fortran_Array3D<T>::Fortran_Array3D(int m, int n, int k) : + v_(m*n*k), m_(m), n_(n), k_(k), data_(v_.begin()) {} + + + +template <class T> +Fortran_Array3D<T>::Fortran_Array3D(int m, int n, int k, const T &val) : + v_(m*n*k), m_(m), n_(n), k_(k), data_(v_.begin()) +{ + for (T* p = data_; p < data_ + m*n*k; p++) + *p = val; +} + +template <class T> +Fortran_Array3D<T>::Fortran_Array3D(int m, int n, int k, T *a) : + v_(a), m_(m), n_(n), k_(k), data_(v_.begin()) {} + + + + +template <class T> +inline T& Fortran_Array3D<T>::operator()(int i, int j, int k) +{ +#ifdef TNT_BOUNDS_CHECK + assert(i >= 1); + assert(i <= m_); + assert(j >= 1); + assert(j <= n_); + assert(k >= 1); + assert(k <= k_); +#endif + + return data_[(k-1)*m_*n_ + (j-1) * m_ + i-1]; + +} + +template <class T> +inline const T& Fortran_Array3D<T>::operator()(int i, int j, int k) const +{ +#ifdef TNT_BOUNDS_CHECK + assert(i >= 1); + assert(i <= m_); + assert(j >= 1); + assert(j <= n_); + assert(k >= 1); + assert(k <= k_); +#endif + + return data_[(k-1)*m_*n_ + (j-1) * m_ + i-1]; +} + + +template <class T> +Fortran_Array3D<T> & Fortran_Array3D<T>::operator=(const T &a) +{ + + T *end = data_ + m_*n_*k_; + + for (T *p=data_; p != end; *p++ = a); + + return *this; +} + +template <class T> +Fortran_Array3D<T> Fortran_Array3D<T>::copy() const +{ + + Fortran_Array3D B(m_, n_, k_); + B.inject(*this); + return B; + +} + + +template <class T> +Fortran_Array3D<T> & Fortran_Array3D<T>::inject(const Fortran_Array3D &A) +{ + + if (m_ == A.m_ && n_ == A.n_ && k_ == A.k_) + { + T *p = data_; + T *end = data_ + m_*n_*k_; + const T* q = A.data_; + for (; p < end; *p++ = *q++); + } + return *this; +} + + + + +template <class T> +Fortran_Array3D<T> & Fortran_Array3D<T>::ref(const Fortran_Array3D<T> &A) +{ + + if (this != &A) + { + v_ = A.v_; + m_ = A.m_; + n_ = A.n_; + k_ = A.k_; + data_ = A.data_; + } + return *this; +} + +template <class T> +Fortran_Array3D<T> & Fortran_Array3D<T>::operator=(const Fortran_Array3D<T> &A) +{ + return ref(A); +} + +template <class T> +inline int Fortran_Array3D<T>::dim1() const { return m_; } + +template <class T> +inline int Fortran_Array3D<T>::dim2() const { return n_; } + +template <class T> +inline int Fortran_Array3D<T>::dim3() const { return k_; } + + +template <class T> +inline int Fortran_Array3D<T>::ref_count() const +{ + return v_.ref_count(); +} + +template <class T> +Fortran_Array3D<T>::~Fortran_Array3D() +{ +} + + +} /* namespace TNT */ + +#endif +/* TNT_FORTRAN_ARRAY3D_H */ + diff --git a/intern/smoke/intern/tnt/tnt_fortran_array3d_utils.h b/intern/smoke/intern/tnt/tnt_fortran_array3d_utils.h new file mode 100644 index 00000000000..a13a275dc0d --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_fortran_array3d_utils.h @@ -0,0 +1,249 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + +#ifndef TNT_FORTRAN_ARRAY3D_UTILS_H +#define TNT_FORTRAN_ARRAY3D_UTILS_H + +#include <cstdlib> +#include <cassert> + +namespace TNT +{ + + +template <class T> +std::ostream& operator<<(std::ostream &s, const Fortran_Array3D<T> &A) +{ + int M=A.dim1(); + int N=A.dim2(); + int K=A.dim3(); + + s << M << " " << N << " " << K << "\n"; + + for (int i=1; i<=M; i++) + { + for (int j=1; j<=N; j++) + { + for (int k=1; k<=K; k++) + s << A(i,j,k) << " "; + s << "\n"; + } + s << "\n"; + } + + + return s; +} + +template <class T> +std::istream& operator>>(std::istream &s, Fortran_Array3D<T> &A) +{ + + int M, N, K; + + s >> M >> N >> K; + + Fortran_Array3D<T> B(M,N,K); + + for (int i=1; i<=M; i++) + for (int j=1; j<=N; j++) + for (int k=1; k<=K; k++) + s >> B(i,j,k); + + A = B; + return s; +} + + +template <class T> +Fortran_Array3D<T> operator+(const Fortran_Array3D<T> &A, const Fortran_Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() != m || B.dim2() != n || B.dim3() != p ) + return Fortran_Array3D<T>(); + + else + { + Fortran_Array3D<T> C(m,n,p); + + for (int i=1; i<=m; i++) + for (int j=1; j<=n; j++) + for (int k=1; k<=p; k++) + C(i,j,k) = A(i,j,k)+ B(i,j,k); + + return C; + } +} + + +template <class T> +Fortran_Array3D<T> operator-(const Fortran_Array3D<T> &A, const Fortran_Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() != m || B.dim2() != n || B.dim3() != p ) + return Fortran_Array3D<T>(); + + else + { + Fortran_Array3D<T> C(m,n,p); + + for (int i=1; i<=m; i++) + for (int j=1; j<=n; j++) + for (int k=1; k<=p; k++) + C(i,j,k) = A(i,j,k)- B(i,j,k); + + return C; + } +} + + +template <class T> +Fortran_Array3D<T> operator*(const Fortran_Array3D<T> &A, const Fortran_Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() != m || B.dim2() != n || B.dim3() != p ) + return Fortran_Array3D<T>(); + + else + { + Fortran_Array3D<T> C(m,n,p); + + for (int i=1; i<=m; i++) + for (int j=1; j<=n; j++) + for (int k=1; k<=p; k++) + C(i,j,k) = A(i,j,k)* B(i,j,k); + + return C; + } +} + + +template <class T> +Fortran_Array3D<T> operator/(const Fortran_Array3D<T> &A, const Fortran_Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() != m || B.dim2() != n || B.dim3() != p ) + return Fortran_Array3D<T>(); + + else + { + Fortran_Array3D<T> C(m,n,p); + + for (int i=1; i<=m; i++) + for (int j=1; j<=n; j++) + for (int k=1; k<=p; k++) + C(i,j,k) = A(i,j,k)/ B(i,j,k); + + return C; + } +} + + +template <class T> +Fortran_Array3D<T>& operator+=(Fortran_Array3D<T> &A, const Fortran_Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() == m && B.dim2() == n && B.dim3() == p ) + { + for (int i=1; i<=m; i++) + for (int j=1; j<=n; j++) + for (int k=1; k<=p; k++) + A(i,j,k) += B(i,j,k); + } + + return A; +} + + +template <class T> +Fortran_Array3D<T>& operator-=(Fortran_Array3D<T> &A, const Fortran_Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() == m && B.dim2() == n && B.dim3() == p ) + { + for (int i=1; i<=m; i++) + for (int j=1; j<=n; j++) + for (int k=1; k<=p; k++) + A(i,j,k) -= B(i,j,k); + } + + return A; +} + + +template <class T> +Fortran_Array3D<T>& operator*=(Fortran_Array3D<T> &A, const Fortran_Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() == m && B.dim2() == n && B.dim3() == p ) + { + for (int i=1; i<=m; i++) + for (int j=1; j<=n; j++) + for (int k=1; k<=p; k++) + A(i,j,k) *= B(i,j,k); + } + + return A; +} + + +template <class T> +Fortran_Array3D<T>& operator/=(Fortran_Array3D<T> &A, const Fortran_Array3D<T> &B) +{ + int m = A.dim1(); + int n = A.dim2(); + int p = A.dim3(); + + if (B.dim1() == m && B.dim2() == n && B.dim3() == p ) + { + for (int i=1; i<=m; i++) + for (int j=1; j<=n; j++) + for (int k=1; k<=p; k++) + A(i,j,k) /= B(i,j,k); + } + + return A; +} + + +} // namespace TNT + +#endif diff --git a/intern/smoke/intern/tnt/tnt_i_refvec.h b/intern/smoke/intern/tnt/tnt_i_refvec.h new file mode 100644 index 00000000000..5a67eb57896 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_i_refvec.h @@ -0,0 +1,243 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + + +#ifndef TNT_I_REFVEC_H +#define TNT_I_REFVEC_H + +#include <cstdlib> +#include <iostream> + +#ifdef TNT_BOUNDS_CHECK +#include <assert.h> +#endif + +#ifndef NULL +#define NULL 0 +#endif + +namespace TNT +{ +/* + Internal representation of ref-counted array. The TNT + arrays all use this building block. + + <p> + If an array block is created by TNT, then every time + an assignment is made, the left-hand-side reference + is decreased by one, and the right-hand-side refernce + count is increased by one. If the array block was + external to TNT, the refernce count is a NULL pointer + regardless of how many references are made, since the + memory is not freed by TNT. + + + +*/ +template <class T> +class i_refvec +{ + + + private: + T* data_; + int *ref_count_; + + + public: + + i_refvec(); + explicit i_refvec(int n); + inline i_refvec(T* data); + inline i_refvec(const i_refvec &v); + inline T* begin(); + inline const T* begin() const; + inline T& operator[](int i); + inline const T& operator[](int i) const; + inline i_refvec<T> & operator=(const i_refvec<T> &V); + void copy_(T* p, const T* q, const T* e); + void set_(T* p, const T* b, const T* e); + inline int ref_count() const; + inline int is_null() const; + inline void destroy(); + ~i_refvec(); + +}; + +template <class T> +void i_refvec<T>::copy_(T* p, const T* q, const T* e) +{ + for (T* t=p; q<e; t++, q++) + *t= *q; +} + +template <class T> +i_refvec<T>::i_refvec() : data_(NULL), ref_count_(NULL) {} + +/** + In case n is 0 or negative, it does NOT call new. +*/ +template <class T> +i_refvec<T>::i_refvec(int n) : data_(NULL), ref_count_(NULL) +{ + if (n >= 1) + { +#ifdef TNT_DEBUG + std::cout << "new data storage.\n"; +#endif + data_ = new T[n]; + ref_count_ = new int; + *ref_count_ = 1; + } +} + +template <class T> +inline i_refvec<T>::i_refvec(const i_refvec<T> &V): data_(V.data_), + ref_count_(V.ref_count_) +{ + if (V.ref_count_ != NULL) + (*(V.ref_count_))++; +} + + +template <class T> +i_refvec<T>::i_refvec(T* data) : data_(data), ref_count_(NULL) {} + +template <class T> +inline T* i_refvec<T>::begin() +{ + return data_; +} + +template <class T> +inline const T& i_refvec<T>::operator[](int i) const +{ + return data_[i]; +} + +template <class T> +inline T& i_refvec<T>::operator[](int i) +{ + return data_[i]; +} + + +template <class T> +inline const T* i_refvec<T>::begin() const +{ + return data_; +} + + + +template <class T> +i_refvec<T> & i_refvec<T>::operator=(const i_refvec<T> &V) +{ + if (this == &V) + return *this; + + + if (ref_count_ != NULL) + { + (*ref_count_) --; + if ((*ref_count_) == 0) + destroy(); + } + + data_ = V.data_; + ref_count_ = V.ref_count_; + + if (V.ref_count_ != NULL) + (*(V.ref_count_))++; + + return *this; +} + +template <class T> +void i_refvec<T>::destroy() +{ + if (ref_count_ != NULL) + { +#ifdef TNT_DEBUG + std::cout << "destorying data... \n"; +#endif + delete ref_count_; + +#ifdef TNT_DEBUG + std::cout << "deleted ref_count_ ...\n"; +#endif + if (data_ != NULL) + delete []data_; +#ifdef TNT_DEBUG + std::cout << "deleted data_[] ...\n"; +#endif + data_ = NULL; + } +} + +/* +* return 1 is vector is empty, 0 otherwise +* +* if is_null() is false and ref_count() is 0, then +* +*/ +template<class T> +int i_refvec<T>::is_null() const +{ + return (data_ == NULL ? 1 : 0); +} + +/* +* returns -1 if data is external, +* returns 0 if a is NULL array, +* otherwise returns the positive number of vectors sharing +* this data space. +*/ +template <class T> +int i_refvec<T>::ref_count() const +{ + if (data_ == NULL) + return 0; + else + return (ref_count_ != NULL ? *ref_count_ : -1) ; +} + +template <class T> +i_refvec<T>::~i_refvec() +{ + if (ref_count_ != NULL) + { + (*ref_count_)--; + + if (*ref_count_ == 0) + destroy(); + } +} + + +} /* namespace TNT */ + + + + + +#endif +/* TNT_I_REFVEC_H */ + diff --git a/intern/smoke/intern/tnt/tnt_math_utils.h b/intern/smoke/intern/tnt/tnt_math_utils.h new file mode 100644 index 00000000000..f6aad8eaf38 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_math_utils.h @@ -0,0 +1,36 @@ +#ifndef MATH_UTILS_H +#define MATH_UTILS_H + +/* needed for fabs, sqrt() below */ +#include <cmath> + +#ifdef _WIN32 +#define hypot _hypot +#endif + +namespace TNT +{ +/** + @returns hypotenuse of real (non-complex) scalars a and b by + avoiding underflow/overflow + using (a * sqrt( 1 + (b/a) * (b/a))), rather than + sqrt(a*a + b*b). +*/ +template <class Real> +Real hypot(const Real &a, const Real &b) +{ + + if (a== 0) + return fabs(b); + else + { + Real c = b/a; + return fabs(a) * sqrt(1 + c*c); + } +} +} /* TNT namespace */ + + + +#endif +/* MATH_UTILS_H */ diff --git a/intern/smoke/intern/tnt/tnt_sparse_matrix_csr.h b/intern/smoke/intern/tnt/tnt_sparse_matrix_csr.h new file mode 100644 index 00000000000..0d4fde1c207 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_sparse_matrix_csr.h @@ -0,0 +1,103 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + +#ifndef TNT_SPARSE_MATRIX_CSR_H +#define TNT_SPARSE_MATRIX_CSR_H + +#include "tnt_array1d.h" + +namespace TNT +{ + + +/** + Read-only view of a sparse matrix in compressed-row storage + format. Neither array elements (nonzeros) nor sparsity + structure can be modified. If modifications are required, + create a new view. + + <p> + Index values begin at 0. + + <p> + <b>Storage requirements:</b> An (m x n) matrix with + nz nonzeros requires no more than ((T+I)*nz + M*I) + bytes, where T is the size of data elements and + I is the size of integers. + + +*/ +template <class T> +class Sparse_Matrix_CompRow { + +private: + Array1D<T> val_; // data values (nz_ elements) + Array1D<int> rowptr_; // row_ptr (dim_[0]+1 elements) + Array1D<int> colind_; // col_ind (nz_ elements) + + int dim1_; // number of rows + int dim2_; // number of cols + +public: + + Sparse_Matrix_CompRow(const Sparse_Matrix_CompRow &S); + Sparse_Matrix_CompRow(int M, int N, int nz, const T *val, + const int *r, const int *c); + + + + inline const T& val(int i) const { return val_[i]; } + inline const int& row_ptr(int i) const { return rowptr_[i]; } + inline const int& col_ind(int i) const { return colind_[i];} + + inline int dim1() const {return dim1_;} + inline int dim2() const {return dim2_;} + int NumNonzeros() const {return val_.dim1();} + + + Sparse_Matrix_CompRow& operator=( + const Sparse_Matrix_CompRow &R); + + + +}; + +/** + Construct a read-only view of existing sparse matrix in + compressed-row storage format. + + @param M the number of rows of sparse matrix + @param N the number of columns of sparse matrix + @param nz the number of nonzeros + @param val a contiguous list of nonzero values + @param r row-pointers: r[i] denotes the begining position of row i + (i.e. the ith row begins at val[row[i]]). + @param c column-indices: c[i] denotes the column location of val[i] +*/ +template <class T> +Sparse_Matrix_CompRow<T>::Sparse_Matrix_CompRow(int M, int N, int nz, + const T *val, const int *r, const int *c) : val_(nz,val), + rowptr_(M, r), colind_(nz, c), dim1_(M), dim2_(N) {} + + +} +// namespace TNT + +#endif diff --git a/intern/smoke/intern/tnt/tnt_stopwatch.h b/intern/smoke/intern/tnt/tnt_stopwatch.h new file mode 100644 index 00000000000..8dc5d23ac1e --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_stopwatch.h @@ -0,0 +1,95 @@ +/* +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + + +#ifndef STOPWATCH_H +#define STOPWATCH_H + +// for clock() and CLOCKS_PER_SEC +#include <time.h> + + +namespace TNT +{ + +inline static double seconds(void) +{ + const double secs_per_tick = 1.0 / CLOCKS_PER_SEC; + return ( (double) clock() ) * secs_per_tick; +} + +class Stopwatch { + private: + int running_; + double start_time_; + double total_; + + public: + inline Stopwatch(); + inline void start(); + inline double stop(); + inline double read(); + inline void resume(); + inline int running(); +}; + +inline Stopwatch::Stopwatch() : running_(0), start_time_(0.0), total_(0.0) {} + +void Stopwatch::start() +{ + running_ = 1; + total_ = 0.0; + start_time_ = seconds(); +} + +double Stopwatch::stop() +{ + if (running_) + { + total_ += (seconds() - start_time_); + running_ = 0; + } + return total_; +} + +inline void Stopwatch::resume() +{ + if (!running_) + { + start_time_ = seconds(); + running_ = 1; + } +} + + +inline double Stopwatch::read() +{ + if (running_) + { + stop(); + resume(); + } + return total_; +} + + +} /* TNT namespace */ +#endif + + + diff --git a/intern/smoke/intern/tnt/tnt_subscript.h b/intern/smoke/intern/tnt/tnt_subscript.h new file mode 100644 index 00000000000..d8fe1200eeb --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_subscript.h @@ -0,0 +1,54 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + +#ifndef TNT_SUBSCRPT_H +#define TNT_SUBSCRPT_H + + +//--------------------------------------------------------------------- +// This definition describes the default TNT data type used for +// indexing into TNT matrices and vectors. The data type should +// be wide enough to index into large arrays. It defaults to an +// "int", but can be overriden at compile time redefining TNT_SUBSCRIPT_TYPE, +// e.g. +// +// c++ -DTNT_SUBSCRIPT_TYPE='unsigned int' ... +// +//--------------------------------------------------------------------- +// + +#ifndef TNT_SUBSCRIPT_TYPE +#define TNT_SUBSCRIPT_TYPE int +#endif + +namespace TNT +{ + typedef TNT_SUBSCRIPT_TYPE Subscript; +} /* namespace TNT */ + + +// () indexing in TNT means 1-offset, i.e. x(1) and A(1,1) are the +// first elements. This offset is left as a macro for future +// purposes, but should not be changed in the current release. +// +// +#define TNT_BASE_OFFSET (1) + +#endif diff --git a/intern/smoke/intern/tnt/tnt_vec.h b/intern/smoke/intern/tnt/tnt_vec.h new file mode 100644 index 00000000000..a0f614b5cbd --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_vec.h @@ -0,0 +1,404 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + + + +#ifndef TNT_VEC_H +#define TNT_VEC_H + +#include "tnt_subscript.h" +#include <cstdlib> +#include <cassert> +#include <iostream> +#include <sstream> + +namespace TNT +{ + +/** + <b>[Deprecatred]</b> Value-based vector class from pre-1.0 + TNT version. Kept here for backward compatiblity, but should + use the newer TNT::Array1D classes instead. + +*/ + +template <class T> +class Vector +{ + + + public: + + typedef Subscript size_type; + typedef T value_type; + typedef T element_type; + typedef T* pointer; + typedef T* iterator; + typedef T& reference; + typedef const T* const_iterator; + typedef const T& const_reference; + + Subscript lbound() const { return 1;} + + protected: + T* v_; + T* vm1_; // pointer adjustment for optimzied 1-offset indexing + Subscript n_; + + // internal helper function to create the array + // of row pointers + + void initialize(Subscript N) + { + // adjust pointers so that they are 1-offset: + // v_[] is the internal contiguous array, it is still 0-offset + // + assert(v_ == NULL); + v_ = new T[N]; + assert(v_ != NULL); + vm1_ = v_-1; + n_ = N; + } + + void copy(const T* v) + { + Subscript N = n_; + Subscript i; + +#ifdef TNT_UNROLL_LOOPS + Subscript Nmod4 = N & 3; + Subscript N4 = N - Nmod4; + + for (i=0; i<N4; i+=4) + { + v_[i] = v[i]; + v_[i+1] = v[i+1]; + v_[i+2] = v[i+2]; + v_[i+3] = v[i+3]; + } + + for (i=N4; i< N; i++) + v_[i] = v[i]; +#else + + for (i=0; i< N; i++) + v_[i] = v[i]; +#endif + } + + void set(const T& val) + { + Subscript N = n_; + Subscript i; + +#ifdef TNT_UNROLL_LOOPS + Subscript Nmod4 = N & 3; + Subscript N4 = N - Nmod4; + + for (i=0; i<N4; i+=4) + { + v_[i] = val; + v_[i+1] = val; + v_[i+2] = val; + v_[i+3] = val; + } + + for (i=N4; i< N; i++) + v_[i] = val; +#else + + for (i=0; i< N; i++) + v_[i] = val; + +#endif + } + + + + void destroy() + { + /* do nothing, if no memory has been previously allocated */ + if (v_ == NULL) return ; + + /* if we are here, then matrix was previously allocated */ + delete [] (v_); + + v_ = NULL; + vm1_ = NULL; + } + + + public: + + // access + + iterator begin() { return v_;} + iterator end() { return v_ + n_; } + iterator begin() const { return v_;} + iterator end() const { return v_ + n_; } + + // destructor + + ~Vector() + { + destroy(); + } + + // constructors + + Vector() : v_(0), vm1_(0), n_(0) {}; + + Vector(const Vector<T> &A) : v_(0), vm1_(0), n_(0) + { + initialize(A.n_); + copy(A.v_); + } + + Vector(Subscript N, const T& value = T()) : v_(0), vm1_(0), n_(0) + { + initialize(N); + set(value); + } + + Vector(Subscript N, const T* v) : v_(0), vm1_(0), n_(0) + { + initialize(N); + copy(v); + } + + Vector(Subscript N, char *s) : v_(0), vm1_(0), n_(0) + { + initialize(N); + std::istringstream ins(s); + + Subscript i; + + for (i=0; i<N; i++) + ins >> v_[i]; + } + + + // methods + // + Vector<T>& newsize(Subscript N) + { + if (n_ == N) return *this; + + destroy(); + initialize(N); + + return *this; + } + + + // assignments + // + Vector<T>& operator=(const Vector<T> &A) + { + if (v_ == A.v_) + return *this; + + if (n_ == A.n_) // no need to re-alloc + copy(A.v_); + + else + { + destroy(); + initialize(A.n_); + copy(A.v_); + } + + return *this; + } + + Vector<T>& operator=(const T& scalar) + { + set(scalar); + return *this; + } + + inline Subscript dim() const + { + return n_; + } + + inline Subscript size() const + { + return n_; + } + + + inline reference operator()(Subscript i) + { +#ifdef TNT_BOUNDS_CHECK + assert(1<=i); + assert(i <= n_) ; +#endif + return vm1_[i]; + } + + inline const_reference operator() (Subscript i) const + { +#ifdef TNT_BOUNDS_CHECK + assert(1<=i); + assert(i <= n_) ; +#endif + return vm1_[i]; + } + + inline reference operator[](Subscript i) + { +#ifdef TNT_BOUNDS_CHECK + assert(0<=i); + assert(i < n_) ; +#endif + return v_[i]; + } + + inline const_reference operator[](Subscript i) const + { +#ifdef TNT_BOUNDS_CHECK + assert(0<=i); + + + + + + + assert(i < n_) ; +#endif + return v_[i]; + } + + + +}; + + +/* *************************** I/O ********************************/ + +template <class T> +std::ostream& operator<<(std::ostream &s, const Vector<T> &A) +{ + Subscript N=A.dim(); + + s << N << "\n"; + + for (Subscript i=0; i<N; i++) + s << A[i] << " " << "\n"; + s << "\n"; + + return s; +} + +template <class T> +std::istream & operator>>(std::istream &s, Vector<T> &A) +{ + + Subscript N; + + s >> N; + + if ( !(N == A.size() )) + { + A.newsize(N); + } + + + for (Subscript i=0; i<N; i++) + s >> A[i]; + + + return s; +} + +// *******************[ basic matrix algorithms ]*************************** + + +template <class T> +Vector<T> operator+(const Vector<T> &A, + const Vector<T> &B) +{ + Subscript N = A.dim(); + + assert(N==B.dim()); + + Vector<T> tmp(N); + Subscript i; + + for (i=0; i<N; i++) + tmp[i] = A[i] + B[i]; + + return tmp; +} + +template <class T> +Vector<T> operator-(const Vector<T> &A, + const Vector<T> &B) +{ + Subscript N = A.dim(); + + assert(N==B.dim()); + + Vector<T> tmp(N); + Subscript i; + + for (i=0; i<N; i++) + tmp[i] = A[i] - B[i]; + + return tmp; +} + +template <class T> +Vector<T> operator*(const Vector<T> &A, + const Vector<T> &B) +{ + Subscript N = A.dim(); + + assert(N==B.dim()); + + Vector<T> tmp(N); + Subscript i; + + for (i=0; i<N; i++) + tmp[i] = A[i] * B[i]; + + return tmp; +} + + +template <class T> +T dot_prod(const Vector<T> &A, const Vector<T> &B) +{ + Subscript N = A.dim(); + assert(N == B.dim()); + + Subscript i; + T sum = 0; + + for (i=0; i<N; i++) + sum += A[i] * B[i]; + + return sum; +} + +} /* namespace TNT */ + +#endif +// TNT_VEC_H diff --git a/intern/smoke/intern/tnt/tnt_version.h b/intern/smoke/intern/tnt/tnt_version.h new file mode 100644 index 00000000000..047e7d37042 --- /dev/null +++ b/intern/smoke/intern/tnt/tnt_version.h @@ -0,0 +1,39 @@ +/* +* +* Template Numerical Toolkit (TNT) +* +* Mathematical and Computational Sciences Division +* National Institute of Technology, +* Gaithersburg, MD USA +* +* +* This software was developed at the National Institute of Standards and +* Technology (NIST) by employees of the Federal Government in the course +* of their official duties. Pursuant to title 17 Section 105 of the +* United States Code, this software is not subject to copyright protection +* and is in the public domain. NIST assumes no responsibility whatsoever for +* its use by other parties, and makes no guarantees, expressed or implied, +* about its quality, reliability, or any other characteristic. +* +*/ + +#ifndef TNT_VERSION_H +#define TNT_VERSION_H + + +//--------------------------------------------------------------------- +// current version +//--------------------------------------------------------------------- + + +#define TNT_MAJOR_VERSION '1' +#define TNT_MINOR_VERSION '2' +#define TNT_SUBMINOR_VERSION '6' +#define TNT_VERSION_STRING "1.2.6" + + + + + +#endif +// TNT_VERSION_H diff --git a/intern/smoke/make/msvc_9_0/smoke.vcproj b/intern/smoke/make/msvc_9_0/smoke.vcproj new file mode 100644 index 00000000000..38a761d5d82 --- /dev/null +++ b/intern/smoke/make/msvc_9_0/smoke.vcproj @@ -0,0 +1,512 @@ +<?xml version="1.0" encoding="Windows-1252"?>
+<VisualStudioProject
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+ RootNamespace="smoke"
+ TargetFrameworkVersion="131072"
+ >
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IF NOT EXIST ..\..\..\..\..\build\msvc_9\intern\smoke\include MKDIR ..\..\..\..\..\build\msvc_9\intern\smoke\include
XCOPY /Y ..\..\extern\*.h ..\..\..\..\..\build\msvc_9\intern\smoke\include
ECHO Done
"
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XCOPY /Y ..\..\extern\*.h ..\..\..\..\..\build\msvc_9\intern\smoke\include
ECHO Done
"
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XCOPY /Y ..\..\extern\*.h ..\..\..\..\..\build\msvc_9\intern\smoke\include
ECHO Done
"
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XCOPY /Y ..\..\extern\*.h ..\..\..\..\..\build\msvc_9\intern\smoke\include
ECHO Done
"
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+ >
+ </File>
+ <File
+ RelativePath="..\..\intern\tnt\tnt_stopwatch.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\intern\tnt\tnt_subscript.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\intern\tnt\tnt_vec.h"
+ >
+ </File>
+ <File
+ RelativePath="..\..\intern\tnt\tnt_version.h"
+ >
+ </File>
+ </Filter>
+ </Filter>
+ <Filter
+ Name="extern"
+ >
+ <File
+ RelativePath="..\..\extern\smoke_API.h"
+ >
+ </File>
+ </Filter>
+ </Files>
+ <Globals>
+ </Globals>
+</VisualStudioProject>
diff --git a/intern/string/SConscript b/intern/string/SConscript index 8973ac88a66..4aca220183c 100644 --- a/intern/string/SConscript +++ b/intern/string/SConscript @@ -4,4 +4,4 @@ Import ('env') sources = env.Glob('intern/*.cpp') incs = '.' -env.BlenderLib ('bf_string', sources, Split(incs), [], libtype=['intern'], priority = [50] ) +env.BlenderLib ('bf_string', sources, Split(incs), [], libtype=['intern','player'], priority = [50,10] ) diff --git a/intern/string/STR_String.h b/intern/string/STR_String.h index 941430fd976..d8023a06f81 100644 --- a/intern/string/STR_String.h +++ b/intern/string/STR_String.h @@ -50,6 +50,13 @@ using namespace std; +#ifdef WITH_CXX_GUARDEDALLOC +#include "MEM_guardedalloc.h" +#endif + +#ifdef _WIN32 +#define stricmp _stricmp +#endif class STR_String; @@ -191,6 +198,13 @@ protected: char *pData; // -> STR_String data int Len; // Data length int Max; // Space in data buffer + + +#ifdef WITH_CXX_GUARDEDALLOC +public: + void *operator new( unsigned int num_bytes) { return MEM_mallocN(num_bytes, "CXX:STR_String"); } + void operator delete( void *mem ) { MEM_freeN(mem); } +#endif }; inline STR_String operator+(rcSTR_String lhs, rcSTR_String rhs) { return STR_String(lhs.ReadPtr(), lhs.Length(), rhs.ReadPtr(), rhs.Length()); } diff --git a/intern/string/intern/STR_String.cpp b/intern/string/intern/STR_String.cpp index dcc52e2a3e7..646b1a853dc 100644 --- a/intern/string/intern/STR_String.cpp +++ b/intern/string/intern/STR_String.cpp @@ -559,7 +559,8 @@ STR_String& STR_String::TrimLeft() { int skip; assertd(pData != NULL); - for (skip=0; isSpace(pData[skip]); skip++, Len--); + for (skip=0; isSpace(pData[skip]); skip++, Len--) + {}; memmove(pData, pData+skip, Len+1); return *this; } @@ -598,7 +599,8 @@ STR_String& STR_String::TrimLeft(char *set) { int skip; assertd(pData != NULL); - for (skip=0; Len && strchr(set, pData[skip]); skip++, Len--); + for (skip=0; Len && strchr(set, pData[skip]); skip++, Len--) + {}; memmove(pData, pData+skip, Len+1); return *this; } diff --git a/intern/string/make/msvc_9_0/string.vcproj b/intern/string/make/msvc_9_0/string.vcproj index 16df974ff9c..512d67623b6 100644 --- a/intern/string/make/msvc_9_0/string.vcproj +++ b/intern/string/make/msvc_9_0/string.vcproj @@ -118,6 +118,7 @@ />
<Tool
Name="VCCLCompilerTool"
+ Optimization="2"
InlineFunctionExpansion="1"
AdditionalIncludeDirectories="..\.."
PreprocessorDefinitions="WIN32,NDEBUG,_LIB"
|