mirror of https://github.com/axmolengine/axmol.git
84 lines
2.2 KiB
C
84 lines
2.2 KiB
C
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// btModifiedGramSchmidt.h
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// LinearMath
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//
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// Created by Xuchen Han on 4/4/20.
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//
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#ifndef btModifiedGramSchmidt_h
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#define btModifiedGramSchmidt_h
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#include "btReducedVector.h"
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#include "btAlignedObjectArray.h"
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#include <iostream>
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#include <cmath>
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template<class TV>
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class btModifiedGramSchmidt
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{
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public:
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btAlignedObjectArray<TV> m_in;
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btAlignedObjectArray<TV> m_out;
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btModifiedGramSchmidt(const btAlignedObjectArray<TV>& vecs): m_in(vecs)
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{
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m_out.resize(0);
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}
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void solve()
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{
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m_out.resize(m_in.size());
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for (int i = 0; i < m_in.size(); ++i)
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{
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// printf("========= starting %d ==========\n", i);
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TV v(m_in[i]);
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// v.print();
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for (int j = 0; j < i; ++j)
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{
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v = v - v.proj(m_out[j]);
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// v.print();
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}
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v.normalize();
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m_out[i] = v;
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// v.print();
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}
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}
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void test()
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{
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std::cout << SIMD_EPSILON << std::endl;
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printf("=======inputs=========\n");
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for (int i = 0; i < m_out.size(); ++i)
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{
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m_in[i].print();
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}
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printf("=======output=========\n");
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for (int i = 0; i < m_out.size(); ++i)
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{
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m_out[i].print();
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}
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btScalar eps = SIMD_EPSILON;
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for (int i = 0; i < m_out.size(); ++i)
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{
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for (int j = 0; j < m_out.size(); ++j)
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{
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if (i == j)
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{
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if (std::abs(1.0-m_out[i].dot(m_out[j])) > eps)// && std::abs(m_out[i].dot(m_out[j])) > eps)
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{
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printf("vec[%d] is not unit, norm squared = %f\n", i,m_out[i].dot(m_out[j]));
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}
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}
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else
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{
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if (std::abs(m_out[i].dot(m_out[j])) > eps)
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{
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printf("vec[%d] and vec[%d] is not orthogonal, dot product = %f\n", i, j, m_out[i].dot(m_out[j]));
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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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template class btModifiedGramSchmidt<btReducedVector>;
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#endif /* btModifiedGramSchmidt_h */
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