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 +1,147 @@
+/* -------------------------------------------------------------
+
+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
+
+------------------------------------------------------------- */
+/*--------------------------------------------------
+  sdpa_tool.h
+--------------------------------------------------*/
+
+#ifndef __sdpa_tool_h__
+#define __sdpa_tool_h__
+
+#include "sdpa_right.h"  
+
+#include <iostream>
+#include <vector>
+#include <sys/time.h>
+#include <string>
+#include <cstring>
+
+
+namespace sdpa {
+
+// Note : only GNU has the macro __PRETTY_FUNCTION__
+#define USE_PRETTY_FUNCTION 0
+#if USE_PRETTY_FUNCTION
+#define rMessage(message)  \
+{ cout << message << " :: line " << __LINE__ \
+  << " in " << __FILE__ \
+  << " [ " <<  __PRETTY_FUNCTION__ << " ] "  << endl; }
+#elif 1
+#define rMessage(message) \
+{cout << message << " :: line " << __LINE__ \
+  << " in " << __FILE__ << endl; }
+#else
+#define rMessage(message) ;
+#endif
+
+#if USE_PRETTY_FUNCTION
+#define rError(message) \
+{ cout << message << " :: line " << __LINE__ \
+  << " in " << __FILE__ \
+  << " [ " << __PRETTY_FUNCTION__ << " ] "  << endl; \
+exit(false);}
+#else
+#define rError(message) \
+{cout << message << " :: line " << __LINE__ \
+  << " in " << __FILE__ << endl; \
+exit(false);}
+#endif
+
+#if 1
+#define NewArray(val,type,number) \
+  {val = NULL; \
+    try{ val = new type[number]; } \
+    catch(bad_alloc){ \
+        rMessage("Memory Exhausted (bad_alloc)"); abort(); } \
+    catch(...){ \
+        rMessage("Fatal Error (related memory allocation"); abort(); } \
+  }
+#else
+#define NewArray(val,type,number) \
+  {rMessage("New Invoked"); \
+   val = NULL; val = new type[number]; \
+   if  (val==NULL) {rError("Over Memory");} \
+  }
+#endif
+
+#define DeleteArray(val) \
+  { if  (val!=NULL) { \
+      delete[] val; \
+      val = NULL; \
+    } \
+  }
+
+#define REVERSE_PRIMAL_DUAL 1
+
+
+// These are constant. Do NOT change
+extern int IZERO   ; // =  0;
+extern int IONE    ; // =  1;
+extern int IMONE   ; // = -1;
+extern double DZERO; // =  0.0;
+extern double DONE ; // =  1.0;
+extern double DMONE; // = -1.0;
+
+class Time
+{
+public:
+  static double rGetUseTime();
+  static void   rSetTimeVal(struct timeval & targetVal);
+  static double rGetRealTime(const struct timeval & start,
+			     const struct timeval & end);
+};
+
+#define PROCESS_TIME 0
+#if PROCESS_TIME // count time with process time
+#include <sys/times.h>
+#define TimeStart(START__) \
+   static double START__; START__ = Time::rGetUseTime()
+#define TimeEnd(END__) \
+   static double END__;   END__ = Time::rGetUseTime()
+#define TimeCal(START__,END__) (END__ - START__)
+#else // count time with real time
+#define TimeStart(START__) \
+   static struct timeval START__; Time::rSetTimeVal(START__)
+#define TimeEnd(END__) \
+   static struct timeval END__; Time::rSetTimeVal(END__)
+#define TimeCal(START__,END__) Time::rGetRealTime(START__,END__)
+#endif
+
+#define sdpa_dset(dset_length,dset_value,dset_pointer,dset_step) \
+for (int dset_i=0,dset_index = 0; dset_i<dset_length; ++dset_i) { \
+  dset_pointer[dset_index] = dset_value; \
+  dset_index += dset_step; \
+}
+
+
+#ifdef OPENBLAS
+extern "C" void openblas_set_num_threads(int num_threads);
+#define blas_set_num_threads(num_threads) \
+  openblas_set_num_threads(num_threads);
+
+#else
+// nothing is used
+#define blas_set_num_threads(num_threads)  {};
+#endif
+
+
+} // end of namespace 'sdpa'
+
+#endif // __sdpa_tool_h__