generate obj files for rendering.

data/dino/two_mprgp_h002_coarse.ini

@@ -9,12 +9,12 @@
 "gravity"      : [0.0,0.0,0.0],
 "coll_pen"     : 1e7,
 "coll_dectect_depth": 0.0,
-"num_frames"   : 100,
+"num_frames"   : 500,
 "save_to"      : "tempt_two_mprgp_h002_coarse",
 
 "newton_max_iteration":1,
-"newton_tolerance"    :1e-5,
-"mprgp_tolerance"     :1e-5,
+"newton_tolerance"    :1e-6,
+"mprgp_tolerance"     :1e-6,
 "mprgp_max_iteration" :1000,
 
 "static_friction"     :0.0,

data/dino/two_mprgp_h005_coarse.ini

@@ -9,7 +9,7 @@
 "gravity"      : [0.0,0.0,0.0],
 "coll_pen"     : 1e7,
 "coll_dectect_depth": 0.0,
-"num_frames"   : 100,
+"num_frames"   : 200,
 "save_to"      : "tempt_two_mprgp_h005_coarse",
 
 "newton_max_iteration":1,

script/run_dino_comp.py

@@ -9,9 +9,9 @@
 for inif in init_files:
     if not inif.endswith(".ini"):
         continue
-    if inif.find("two_") < 0 or inif.find('mprgp_h01') < 0 or inif.find('coarse') < 0:
+    if inif.find("two_") < 0 or inif.find('mprgp_h') < 0 or inif.find('coarse') < 0:
         continue
-    if inif.find('two_mprgp_h005_fine2') >= 0:
+    if inif.find('two_mprgp_h005_fine1') >= 0:
         continue
     f = init_files_dir + inif + " "
     cmmd = "./bin/release/collision_handle " + f + " > ./tempt/" + inif + ".txt"

src/CMakeLists.txt

@@ -21,8 +21,8 @@ TARGET_LINK_LIBRARIES(${APP_NAME}
   )
 
 SET(LIBRARY_NAME mprgp)
-# SET(lib_src ${utility_src} ${commonfile_src} ${collisionhandle_src} ${qp_src})
-SET(lib_src ${qp_src})
+SET(lib_src ${utility_src} ${commonfile_src} ${collisionhandle_src} ${qp_src})
+# SET(lib_src ${qp_src})
 LIST(REMOVE_ITEM lib_src ./CollisionHandle/main.cpp)
 ADD_LIBRARY(${LIBRARY_NAME} ${lib_src})
 

src/Utility/HashedId.cpp

@@ -0,0 +1,48 @@
+#include "HashedId.h"
+using namespace UTILITY;
+
+HashedId::HashedId(){
+  _id[0]=_id[1]=_id[2]=_id[3]=-1;
+  _no=-1;
+}
+
+HashedId::HashedId(int a,int b,const int& no){
+  if(a > b)
+	std::swap(a,b);
+  _id[0]=-1;
+  _id[1]=-1;
+  _id[2]=a;
+  _id[3]=b;
+  _no=no;
+}
+
+HashedId::HashedId(int a,int b,int c,const int& no){
+
+  if(a > b)std::swap(a,b);
+  if(b > c)std::swap(b,c);
+  if(a > b)std::swap(a,b);
+
+  _id[0]=a;
+  _id[1]=b;
+  _id[2]=c;
+  _id[3]=-1;
+
+  _no=no;
+}
+
+HashedId::HashedId(const Eigen::Vector3i&pos,const int&edgeLen,const int&no){
+
+  _id[0]=edgeLen;
+  _id[1]=pos.x();
+  _id[2]=pos.y();
+  _id[3]=pos.z();
+  _no=no;
+}
+
+bool HashedId::operator==(const HashedId& other) const{
+
+  return _id[0] == other._id[0] &&
+	_id[1] == other._id[1] &&
+	_id[2] == other._id[2] &&
+	_id[3] == other._id[3];
+}

src/Utility/HashedId.h

@@ -0,0 +1,31 @@
+#ifndef _HASHEDID_H_
+#define _HASHEDID_H_
+
+#include <boost/unordered_set.hpp>
+#include <boost/unordered_map.hpp>
+#include <eigen3/Eigen/Dense>
+
+namespace UTILITY{
+
+  struct HashedId{
+  public:
+	HashedId();
+	HashedId(int a,int b,const int& no);
+	HashedId(int a,int b,int c,const int& no);
+	HashedId(const Eigen::Vector3i& pos,const int& edgeLen,const int& no);
+	bool operator==(const HashedId& other) const;
+	int _id[4];
+	int _no;
+  };
+
+  struct HashedIdHash: public boost::hash<HashedId>{
+
+	std::size_t operator()(const HashedId& i) const{
+	  const boost::hash<int> h;
+	  return h(i._id[0])+h(i._id[1])+h(i._id[2])+h(i._id[3]);
+	}
+  };
+}
+
+#endif /* _HASHEDID_H_ */
+