overhauled physics engine

2023-01-21 18:43:21 +01:00
parent 3c7346cf7b
commit 2208ab438a
164 changed files with 22606 additions and 928 deletions
@@ -0,0 +1,140 @@
+/* -------------------------------------------------------------
+
+This file is a component of SDPA
+Copyright (C) 2004-2013 SDPA Project
+
+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
+
+------------------------------------------------------------- */
+
+#include "sdpa_block.h"
+
+namespace sdpa {
+  
+BlockStruct::BlockStruct()
+{
+  nBlock      = 0;
+  blockStruct = NULL;
+  blockNumber = NULL;
+  blockType   = NULL;
+  SDP_nBlock       = 0;
+  SDP_blockStruct  = NULL;
+  LP_nBlock        = 0;
+}
+
+BlockStruct::~BlockStruct()
+{
+  finalize();
+}
+
+void BlockStruct::initialize(int nBlock)
+{
+  this->nBlock = nBlock;
+  NewArray(blockStruct,int,nBlock);
+  NewArray(blockType, BlockType, nBlock);
+  NewArray(blockNumber,int,nBlock);
+  SDP_nBlock       = 0;
+  SDP_blockStruct  = NULL;
+  LP_nBlock        = 0;
+}
+
+void BlockStruct::finalize()
+{
+  DeleteArray(blockStruct);
+  DeleteArray(blockNumber);
+  DeleteArray(blockType);
+  DeleteArray(SDP_blockStruct);
+}
+
+void BlockStruct::makeInternalStructure()
+{
+  SDP_nBlock  = 0;
+  LP_nBlock   = 0;
+  for (int l=0; l<nBlock; l++){
+    #if 0
+    rMessage("blockStruct[" << l << "] = "<<  blockStruct[l]
+	     << ": blockType[" << l << "] = " << blockType[l]);
+    #endif
+    if (blockStruct[l] >= 2 && blockType[l] == btSDP) {
+      blockType[l]   = btSDP;
+      blockNumber[l] = SDP_nBlock;
+      SDP_nBlock++;
+    } else if (blockStruct[l] < 0 || blockType[l] == btLP) {
+      blockType[l]   = btLP;
+      if (blockStruct[l] < 0) {
+	blockStruct[l] = - blockStruct[l];
+      }
+      blockNumber[l] = LP_nBlock;
+      LP_nBlock += blockStruct[l];
+    } else if (blockStruct[l] == 1) {
+      blockType[l]   = btLP;
+      blockStruct[l] = 1;
+      blockNumber[l] = LP_nBlock;
+      LP_nBlock += blockStruct[l];
+    } else {
+      rError("block struct");
+    }
+  }
+  
+  NewArray(SDP_blockStruct, int,SDP_nBlock);
+  SDP_nBlock = 0;
+  for (int l=0; l<nBlock; l++){
+    if (blockType[l] == btSDP) {
+      SDP_blockStruct[SDP_nBlock] = blockStruct[l];
+      SDP_nBlock++;
+    } 
+  }
+}
+
+void BlockStruct::display(FILE* fpout)
+{
+  if (fpout == NULL) {
+    return;
+  }
+  fprintf(fpout,"--- BlockStruct ---\n");
+  fprintf(fpout,"nBlock = %d\n",nBlock);
+  fprintf(fpout,"blockStruct = \n");
+  for (int l=0; l<nBlock; ++l) {
+    fprintf(fpout,"%5d,",blockStruct[l]);
+  }
+  fprintf(fpout,"\n");
+  fprintf(fpout,"blockNumber = \n");
+  for (int l=0; l<nBlock; ++l) {
+    fprintf(fpout,"%5d,",blockNumber[l]);
+  }
+  fprintf(fpout,"\n");
+  fprintf(fpout,"blockType = \n");
+  for (int l=0; l<nBlock; ++l) {
+    char displaychar = '-';
+    if (blockType[l] == btSDP) {
+      displaychar= 'S';
+    } else if (blockType[l] == btLP) {
+      displaychar= 'L';
+    }
+    fprintf(fpout,"    %c,",displaychar);
+  }
+  fprintf(fpout,"\n");
+  fprintf(fpout,"SDP_nBlock = %d\n",SDP_nBlock);
+  fprintf(fpout,"SDP_blockStruct = \n");
+  for (int l=0; l<SDP_nBlock; ++l) {
+    fprintf(fpout,"%5d,",SDP_blockStruct[l]);
+  }
+  fprintf(fpout,"\n");
+  fprintf(fpout,"LP_nBlock = %d\n",LP_nBlock);
+  fprintf(fpout,"--- BlockStruct ---\n");
+}
+
+
+} // end of namespace 'sdpa'