/**
* Internal. Typically after a hit: Recompute the new curves and upcoming collission candidates.
*
* @param hitMask
* @return bitmask of rocks with new curves
*/
int doRecomputeCurvesAndCollissionTimes(
final int hitMask, double t0, final RockSet<Pos> cp, final RockSet<Vel> cv) {
int computedMask = 0;
// first compute the new curves:
// TUNE Parallel
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--) {
if (!RockSet.isSet(hitMask, i16)) continue;
curveStore.add(i16, t0, doComputeCurve(i16, t0, cp, cv, NoSweep), _30);
computedMask |= 1 << i16;
}
// then add all combinations of potential collissions
t0 += hitDt;
// TUNE Parallel
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--) {
if (!RockSet.isSet(computedMask, i16)) continue;
for (int j16 = RockSet.ROCKS_PER_SET - 1; j16 >= 0; j16--) {
if (i16 == j16 || i16 > j16 && RockSet.isSet(computedMask, j16)) continue;
collissionStore.replace(
i16,
j16,
collissionDetector.compute(
t0, _30, curveStore.getCurve(i16), curveStore.getCurve(j16)));
}
}
return computedMask;
}
/**
* Internal. Compute one rock curve segment and don't change internal state.
*
* @param i16 which rock
* @param t0 starttime
* @param sweepFactor
* @return the new Curve in world coordinates.
*/
CurveRock<Pos> doComputeCurve(
final int i16,
final double t0,
final RockSet<Pos> p,
final RockSet<Vel> s,
final double sweepFactor) {
final Rock<Pos> x = p.getRock(i16);
final Rock<Vel> v = s.getRock(i16);
final CurveRock<Pos> wc;
if (v.p().distanceSq(0, 0) == 0) wc = CurveStill.newInstance(x);
else
// Convert the initial angle from WC to RC.
// TUNE 2x sqrt, 2x atan2 to 1x each?
wc =
new CurveTransformed<Pos>(
curler.computeRc(
x.getA() + Math.atan2(v.getX(), v.getY()),
MathVec.abs2D(v.p()),
v.getA(),
sweepFactor),
CurveTransformed.createRc2Wc(x.p(), v.p(), null),
t0);
if (log.isDebugEnabled()) log.debug(i16 + " " + wc);
return wc;
}
/** One of the initial rocks changed either pos or vel */
public void stateChanged(final ChangeEvent arg0) {
final Object src = arg0 == null ? null : arg0.getSource();
if (src == null || src == initialPos || src == initialSpeed) ; // recompute(currentTime, true);
else if (initialPos.findI16(src) >= 0) {
log.debug("Startpos rock change");
if (getSuspended()) collected |= 1 << initialPos.findI16(src);
else recompute(currentTime, true);
} else if (initialSpeed.findI16(src) >= 0) {
log.debug("Startvel rock change");
if (getSuspended()) collected |= 1 << initialSpeed.findI16(src);
else recompute(currentTime, true);
} else log.info(arg0);
}
/**
* Internal. Does not {@link RockSet#fireStateChanged()}!
*
* @param currentTime
*/
void doUpdatePosAndVel(final double currentTime, final RockSet<Pos> cp, final RockSet<Vel> cv) {
// TUNE Parallel
for (int i = RockSet.ROCKS_PER_SET - 1; i >= 0; i--) {
final R1RNFunction c = curveStore.getCurve(i);
double x = c.at(currentTime, 0, 0);
double y = c.at(currentTime, 0, 1);
double a = c.at(currentTime, 0, 2);
cp.getRock(i).setLocation(x, y, a);
x = c.at(currentTime, 1, 0);
y = c.at(currentTime, 1, 1);
a = c.at(currentTime, 1, 2);
cv.getRock(i).setLocation(x, y, a);
}
}
/** Do NOT update currentXY */
private void recomputeCurves(final int bitmask) {
if (bitmask <= 0) return;
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--) {
if (!RockSet.isSet(bitmask, i16)) continue;
recomputeCurve(i16);
}
doUpdatePosAndVel(currentTime, currentPos, currentVel);
}
@SuppressWarnings("unchecked")
private static CompoundEdit reset(
final ComputedTrajectorySet cts, final BroomPromptModel broom, final boolean outPosition) {
final RockSet<Pos> ipos = cts.getInitialPos();
final RockSet<Vel> ivel = cts.getInitialVel();
// store the initial state:
final PosMemento[] pm = new PosMemento[RockSet.ROCKS_PER_SET];
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--)
pm[i16] = new PosMemento(ipos, i16, ipos.getRock(i16).p());
final IndexMemento bi = new IndexMemento(broom, broom.getIdx16());
final HandleMemento bh = new HandleMemento(broom, broom.getOutTurn());
final XYMemento bxy = new XYMemento(broom, broom.getBroom());
final SplitMemento bs = new SplitMemento(broom, broom.getSplitTimeMillis().getValue());
final boolean preS = cts.getSuspended();
cts.setSuspended(true);
try {
// reset:
RockSet.allZero(ivel);
broom.setIdx16(-1);
if (outPosition) RockSetUtils.allOut(ipos);
else RockSetUtils.allHome(ipos);
broom.setIdx16(1);
broom.setBroom(new Point2D.Double(0, 0));
broom.getSplitTimeMillis().setValue(3300);
} finally {
cts.setSuspended(preS);
}
// create a compound edit
final CompoundEdit ce = new CompoundEdit();
ce.addEdit(new UndoableMemento(new SuspendMemento(cts, preS), new SuspendMemento(cts, true)));
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--)
ce.addEdit(new UndoableMemento(pm[i16], new PosMemento(ipos, i16, ipos.getRock(i16).p())));
ce.addEdit(new UndoableMemento(bi, new IndexMemento(broom, broom.getIdx16())));
ce.addEdit(new UndoableMemento(bh, new HandleMemento(broom, broom.getOutTurn())));
ce.addEdit(new UndoableMemento(bxy, new XYMemento(broom, broom.getBroom())));
ce.addEdit(
new UndoableMemento(bs, new SplitMemento(broom, broom.getSplitTimeMillis().getValue())));
ce.addEdit(new UndoableMemento(new SuspendMemento(cts, true), new SuspendMemento(cts, preS)));
ce.end();
return ce;
}
public CurveManager() {
initialPos.addRockListener(this);
initialSpeed.addRockListener(this);
}
/**
* Bring it all together and trigger computation.
*
* <p>Registers itself as listener to {@link RockSet#addRockListener(ChangeListener)} for both -
* initial rock locations and velocities to trigger recomputation.
*
* <p>TODO re-work the whole computation/update strategy to reduce the number of curves recomputed
* for free rocks' moves.
*
* @author <a href="mailto:[email protected]">M. Rohrmoser </a>
* @version $Id:CurveManager.java 682 2007-08-12 21:25:04Z mrohrmoser $
*/
public class CurveManager extends MutableObject
implements ChangeListener, ComputedTrajectorySet, Serializable {
// compute beyond a realistic amount of time
private static final double _30 = 60.0;
/** Time leap during a hit. */
private static final double hitDt = 1e-6;
private static final Log log = JCLoggerFactory.getLogger(CurveManager.class);
private static final double NoSweep = 0;
private static final long serialVersionUID = 7198540442889130378L;
private static final StopDetector stopper = new NewtonStopDetector();
private final Map<CharSequence, CharSequence> annotations =
new HashMap<CharSequence, CharSequence>();
/** Trajectory (Rock) Bitmask or -1 for "currently not suspended". */
private transient int collected = -1;
private Collider collider = null;
private transient CollissionDetector collissionDetector = new BisectionCollissionDetector();
private final transient CollissionStore collissionStore = new CollissionStore();
private Curler curler = null;
private final transient RockSet<Pos> currentPos = RockSetUtils.allHome();
private transient double currentTime = 0;
private final transient RockSet<Vel> currentVel = RockSet.allZero(null);
private transient CurveStore curveStore = new CurveStoreImpl(stopper, RockSet.ROCKS_PER_SET);
private final RockSet<Pos> initialPos = RockSetUtils.allHome();
private final RockSet<Vel> initialSpeed = RockSet.allZero(null);
// don't fire change events on intermediate updates. Use another variable.
private final transient RockSet<Pos> tmpPos = RockSetUtils.allHome();
// don't fire change events on intermediate updates. Use another variable.
private final transient RockSet<Vel> tmpVel = RockSet.allZero(null);
public CurveManager() {
initialPos.addRockListener(this);
initialSpeed.addRockListener(this);
}
/**
* Internal. Compute one rock curve segment and don't change internal state.
*
* @param i16 which rock
* @param t0 starttime
* @param sweepFactor
* @return the new Curve in world coordinates.
*/
CurveRock<Pos> doComputeCurve(
final int i16,
final double t0,
final RockSet<Pos> p,
final RockSet<Vel> s,
final double sweepFactor) {
final Rock<Pos> x = p.getRock(i16);
final Rock<Vel> v = s.getRock(i16);
final CurveRock<Pos> wc;
if (v.p().distanceSq(0, 0) == 0) wc = CurveStill.newInstance(x);
else
// Convert the initial angle from WC to RC.
// TUNE 2x sqrt, 2x atan2 to 1x each?
wc =
new CurveTransformed<Pos>(
curler.computeRc(
x.getA() + Math.atan2(v.getX(), v.getY()),
MathVec.abs2D(v.p()),
v.getA(),
sweepFactor),
CurveTransformed.createRc2Wc(x.p(), v.p(), null),
t0);
if (log.isDebugEnabled()) log.debug(i16 + " " + wc);
return wc;
}
/**
* Internal.
*
* @return when is the next hit, which are the rocks involved.
*/
Tupel doGetNextHit() {
return collissionStore.first();
}
/**
* Internal. Typically after a hit: Recompute the new curves and upcoming collission candidates.
*
* @param hitMask
* @return bitmask of rocks with new curves
*/
int doRecomputeCurvesAndCollissionTimes(
final int hitMask, double t0, final RockSet<Pos> cp, final RockSet<Vel> cv) {
int computedMask = 0;
// first compute the new curves:
// TUNE Parallel
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--) {
if (!RockSet.isSet(hitMask, i16)) continue;
curveStore.add(i16, t0, doComputeCurve(i16, t0, cp, cv, NoSweep), _30);
computedMask |= 1 << i16;
}
// then add all combinations of potential collissions
t0 += hitDt;
// TUNE Parallel
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--) {
if (!RockSet.isSet(computedMask, i16)) continue;
for (int j16 = RockSet.ROCKS_PER_SET - 1; j16 >= 0; j16--) {
if (i16 == j16 || i16 > j16 && RockSet.isSet(computedMask, j16)) continue;
collissionStore.replace(
i16,
j16,
collissionDetector.compute(
t0, _30, curveStore.getCurve(i16), curveStore.getCurve(j16)));
}
}
return computedMask;
}
/**
* Internal. Does not {@link RockSet#fireStateChanged()}!
*
* @param currentTime
*/
void doUpdatePosAndVel(final double currentTime, final RockSet<Pos> cp, final RockSet<Vel> cv) {
// TUNE Parallel
for (int i = RockSet.ROCKS_PER_SET - 1; i >= 0; i--) {
final R1RNFunction c = curveStore.getCurve(i);
double x = c.at(currentTime, 0, 0);
double y = c.at(currentTime, 0, 1);
double a = c.at(currentTime, 0, 2);
cp.getRock(i).setLocation(x, y, a);
x = c.at(currentTime, 1, 0);
y = c.at(currentTime, 1, 1);
a = c.at(currentTime, 1, 2);
cv.getRock(i).setLocation(x, y, a);
}
}
@Override
public boolean equals(final Object obj) {
return false;
}
public Map<CharSequence, CharSequence> getAnnotations() {
return annotations;
}
public Collider getCollider() {
return collider;
}
public CollissionDetector getCollissionDetector() {
return collissionDetector;
}
public Curler getCurler() {
return curler;
}
public RockSet<Pos> getCurrentPos() {
return currentPos;
}
public double getCurrentTime() {
return currentTime;
}
public RockSet<Vel> getCurrentVel() {
return currentVel;
}
public CurveStore getCurveStore() {
return curveStore;
}
public RockSet<Pos> getInitialPos() {
return initialPos;
}
public RockSet<Vel> getInitialVel() {
return initialSpeed;
}
public boolean getSuspended() {
return collected >= 0;
}
@Override
public int hashCode() {
return 0;
}
protected Object readResolve() throws ObjectStreamException {
final CurveManager m = new CurveManager();
m.setSuspended(true);
m.annotations.putAll(annotations);
m.setCollider(getCollider());
m.setCurler(getCurler());
m.setInitialPos(getInitialPos());
m.setInitialVel(getInitialVel());
// m.setCurrentTime(this.getCurrentTime());
m.setSuspended(false);
return m;
}
private void recompute(final double currentTime, final boolean complete) {
if (getSuspended()) return;
if (complete) {
{
// initial
final double t0 = 0.0;
// TUNE Parallel
// initial curves:
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--) {
curveStore.reset(i16);
curveStore.add(i16, t0, doComputeCurve(i16, t0, initialPos, initialSpeed, NoSweep), _30);
}
// initial collission detection:
collissionStore.clear();
// TUNE Parallel
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--)
for (int j16 = i16 - 1; j16 >= 0; j16--)
// log.info("collissionDetect " + i + ", " + j);
collissionStore.add(
collissionDetector.compute(
t0, _30, curveStore.getCurve(i16), curveStore.getCurve(j16)),
i16,
j16);
}
final AffineTransform m = new AffineTransform();
// NaN-safe time range check (are we navigating known ground?):
while (currentTime > doGetNextHit().t) {
final Tupel nh = doGetNextHit();
if (log.isDebugEnabled()) log.debug(nh.a + " - " + nh.b + " : " + nh.t);
doUpdatePosAndVel(nh.t, tmpPos, tmpVel);
// compute collission(s);
final int mask = collider.compute(tmpPos, tmpVel, m);
if (mask == 0) break;
doRecomputeCurvesAndCollissionTimes(mask, nh.t, tmpPos, tmpVel);
}
}
doUpdatePosAndVel(currentTime, currentPos, currentVel);
}
/** Do NOT update currentXY */
private void recomputeCurve(final int i16) {
if (i16 < 0) return;
// TODO find the first collission with this (old) curve involved from
// the collissionstore.
// TODO find the first collission with this (new) curve involved.
// TODO if none -> return
// TODO clear the collissionstore/curvestore until the earlier of the
// two
}
/** Do NOT update currentXY */
private void recomputeCurves(final int bitmask) {
if (bitmask <= 0) return;
for (int i16 = RockSet.ROCKS_PER_SET - 1; i16 >= 0; i16--) {
if (!RockSet.isSet(bitmask, i16)) continue;
recomputeCurve(i16);
}
doUpdatePosAndVel(currentTime, currentPos, currentVel);
}
public void setCollider(final Collider collider) {
final Collider old = this.collider;
if (old == collider) return;
propChange.firePropertyChange("collider", old, this.collider = collider);
}
public void setCollissionDetector(final CollissionDetector collissionDetector) {
// FIXME currently use ONLY Bisection.
// collissionDetector = new BisectionCollissionDetector();
final CollissionDetector old = this.collissionDetector;
if (old == collissionDetector) return;
propChange.firePropertyChange(
"collissionDetector", old, this.collissionDetector = collissionDetector);
}
public void setCurler(final Curler curler) {
final Curler old = this.curler;
if (old == curler) return;
propChange.firePropertyChange("curler", old, this.curler = curler);
}
public void setCurrentTime(final double currentTime) {
final double old = this.currentTime;
if (old == currentTime) return;
this.currentTime = currentTime;
if (this.currentTime > old) recompute(currentTime, true);
propChange.firePropertyChange("currentTime", old, this.currentTime);
}
public void setCurveStore(final CurveStore curveStore) {
this.curveStore = curveStore;
recompute(currentTime, true);
propChange.firePropertyChange("curveStore", this.curveStore, curveStore);
}
public void setInitialPos(final RockSet<Pos> initialPos) {
this.initialPos.setLocation(initialPos);
}
public void setInitialVel(final RockSet<Vel> initialVel) {
initialSpeed.setLocation(initialVel);
}
public void setSuspended(final boolean suspend) {
final int old = collected;
if (suspend) {
if (collected < 0) collected = 0;
} else {
collected = -1;
if (old <= 0) return;
recompute(currentTime, true);
}
}
/** One of the initial rocks changed either pos or vel */
public void stateChanged(final ChangeEvent arg0) {
final Object src = arg0 == null ? null : arg0.getSource();
if (src == null || src == initialPos || src == initialSpeed) ; // recompute(currentTime, true);
else if (initialPos.findI16(src) >= 0) {
log.debug("Startpos rock change");
if (getSuspended()) collected |= 1 << initialPos.findI16(src);
else recompute(currentTime, true);
} else if (initialSpeed.findI16(src) >= 0) {
log.debug("Startvel rock change");
if (getSuspended()) collected |= 1 << initialSpeed.findI16(src);
else recompute(currentTime, true);
} else log.info(arg0);
}
}
public void setInitialVel(final RockSet<Vel> initialVel) {
initialSpeed.setLocation(initialVel);
}
