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TempleOSCDV5.03.ISO

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Terry A. Davis authored and minexew committed 2018-09-08 21:48:27 +02:00
1 parent 4b32f058d5
commit 6028804a5a
111 files changed
+3466 -2285
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Adam/AMathODE.HC
+126 -47
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@@ -29,18 +29,13 @@ U0 ODERstPtrs(CMathODE *ode)
public CMathODE *ODENew(I64 n,F64 max_tolerance=1e-6,I64 flags=0)
{//Make differential equation ctrl struct. See $LK,"flags",A="MN:ODEF_HAS_MASSES"$.
//The tolerance is not precise.
//You can min_tolerance and it will
//dynamically adjust tolerance to utilize
//the CPU.
I64 s=n*sizeof(F64);
CMathODE *ode=MAlloc(sizeof(CMathODE));
ode->t=0;
CMathODE *ode=CAlloc(sizeof(CMathODE));
ode->t_scale=1.0;
ode->base_t=0;
ode->flags=flags;
ode->n_internal=ode->n=n;
ode->h=1e-6;
@@ -48,22 +43,38 @@ public CMathODE *ODENew(I64 n,F64 max_tolerance=1e-6,I64 flags=0)
ode->h_max=1e32;
ode->max_tolerance=ode->min_tolerance=ode->tolerance_internal=max_tolerance;
ode->win_task=ode->mem_task=Fs;
ode->derivative=NULL;
QueInit(&ode->next_mass);
QueInit(&ode->next_spring);
ode->acceleration_limit=ode->drag_v=ode->drag_v2=ode->drag_v3=0;
ode->state=CAlloc(s);
ode->array_base=MAlloc(12*s);
ODERstPtrs(ode);
return ode;
}
public Bool ODEPause(CMathODE *ode,Bool val=ON)
{//Pause ODE.
Bool res;
if (!ode) return OFF;
res=LBEqu(&ode->flags,ODEf_PAUSED,val);
if (val)
while (Bt(&ode->flags,ODEf_BUSY))
Yield;
return res;
}
public U0 ODEDel(CMathODE *ode)
{//Free ODE node, but not masses or springs.
I64 i;
if (!ode) return;
ODEPause(ode);
Free(ode->state);
Free(ode->array_base);
if (ode->slave_tasks) {
for (i=0;i<mp_cnt;i++)
Kill(ode->slave_tasks[i]);
Free(ode->slave_tasks);
}
Free(ode);
}
@@ -319,6 +330,53 @@ U0 ODEApplyAccelerationLimit(CMathODE *ode)
}
}
U0 ODEMPTask(CMathODE *ode)
{
while (TRUE) {
while (!Bt(&ode->mp_not_done_flags,Gs->num))
Yield;
if (ode->mp_derive)
(*ode->mp_derive)(ode,ode->mp_t,
Gs->num,ode->mp_state,ode->mp_DstateDt);
LBtr(&ode->mp_not_done_flags,Gs->num);
}
}
U0 ODEMPWake(CMathODE *ode)
{
I64 i;
if (!ode->slave_tasks) {
ode->slave_tasks=CAlloc(mp_cnt*sizeof(CTask *));
for (i=0;i<mp_cnt;i++)
ode->slave_tasks[i]=Spawn(&ODEMPTask,ode,"ODE Slave",i);
}
for (i=0;i<mp_cnt;i++) {
Suspend(ode->slave_tasks[i],FALSE);
MPInt(I_WAKE,i);
}
}
U0 ODEMPSleep(CMathODE *ode)
{
I64 i;
if (ode->slave_tasks) {
while (ode->mp_not_done_flags)
Yield;
for (i=0;i<mp_cnt;i++)
Suspend(ode->slave_tasks[i]);
}
}
U0 ODECallMPDerivative(CMathODE *ode,F64 t,F64 *state,F64 *DstateDt)
{
ode->mp_t=t;
ode->mp_state=state;
ode->mp_DstateDt=DstateDt;
ode->mp_not_done_flags=1<<mp_cnt-1;
do Yield;
while (ode->mp_not_done_flags);
}
U0 ODECallDerivative(CMathODE *ode,F64 t,F64 *state,F64 *DstateDt)
{
CMass *tmpm;
@@ -334,7 +392,10 @@ U0 ODECallDerivative(CMathODE *ode,F64 t,F64 *state,F64 *DstateDt)
}
ODECalcSprings(ode);
ODECalcDrag(ode);
(*ode->derivative)(ode,t,state,DstateDt);
if (ode->mp_derive)
ODECallMPDerivative(ode,t,state,DstateDt);
if (ode->derive)
(*ode->derive)(ode,t,state,DstateDt);
tmpm=ode->next_mass;
while (tmpm!=&ode->next_mass) {
if (!(tmpm->flags&MSF_INACTIVE)) {
@@ -347,8 +408,12 @@ U0 ODECallDerivative(CMathODE *ode,F64 t,F64 *state,F64 *DstateDt)
tmpm=tmpm->next;
}
ODEApplyAccelerationLimit(ode);
} else
(*ode->derivative)(ode,t,state,DstateDt);
} else {
if (ode->mp_derive)
ODECallMPDerivative(ode,t,state,DstateDt);
if (ode->derive)
(*ode->derive)(ode,t,state,DstateDt);
}
}
U0 ODEOneStep(CMathODE *ode)
@@ -453,6 +518,7 @@ U0 ODECashKarp(CMathODE *ode)
tmpstate[i]=state[i]+h*(ODEb61*DstateDt[i]+
ODEb62*ak2[i]+ODEb63*ak3[i]+ODEb64*ak4[i]+ODEb65*ak5[i]);
ODECallDerivative(ode,ode->t+ODEa6*h,tmpstate,ak6);
for (i=0;i<n;i++)
outstate[i]=state[i]+h*(ODEc1*DstateDt[i]+
ODEc3*ak3[i]+ODEc4*ak4[i]+ODEc6*ak6[i]);
@@ -499,7 +565,7 @@ U0 ODERK5OneStep(CMathODE *ode)
F64 ode_alloced_factor=0.75;
U0 ODEsUpdate(CTask *task)
{/* This routine is called by the $LK,"window mgr",A="FF:::/Adam/Gr/GrScrn.HC,ODEsUpdate"$ on a continuous
{/* This routine is called by the $LK,"window mgr",A="FF:::/Adam/Gr/GrScrn.HC,ODEsUpdate"$on a continuous
basis to allow real-time simulation. It is intended
to provide ress good enough for games. It uses a runge-kutta
integrator which is a better algorithm than doing it with Euler.
@@ -537,41 +603,54 @@ it has a timeout.
t_desired=ode->t_scale*d+t_initial;
if (ode->flags&ODEF_PAUSED)
ode->base_t+=t_desired-ode->t; //Slip
else if (ode->derivative) {
ODEState2Internal(ode);
MemCpy(ode->initial_state,ode->state_internal,
ode->n_internal*sizeof(F64));
while (ode->t<t_desired) {
ode->h_max=t_desired-ode->t;
ODECallDerivative(ode,ode->t,ode->state_internal,ode->DstateDt);
for (i=0;i<ode->n_internal;i++)
ode->state_scale[i]=Abs(ode->state_internal[i])+
Abs(ode->DstateDt[i]*ode->h)+ode->tolerance_internal;
ODERK5OneStep(ode);
if (tS>timeout_time) {
ode->base_t+=t_desired-ode->t; //Slip
goto ode_done;
}
}
//Interpolate if end time was not exact.
if (ode->t!=t_desired) {
if (interpolation=ode->t-t_initial) {
interpolation=(t_desired-t_initial)/interpolation;
if (interpolation!=1.0)
else {
ode->flags|=ODEF_BUSY;
if (ode->flags&ODEF_PAUSED)
ode->base_t+=t_desired-ode->t; //Slip
else {
if (ode->derive || ode->mp_derive) {
if (ode->mp_derive)
ODEMPWake(ode);
ODEState2Internal(ode);
MemCpy(ode->initial_state,ode->state_internal,
ode->n_internal*sizeof(F64));
while (ode->t<t_desired) {
ode->h_max=t_desired-ode->t;
ODECallDerivative(ode,ode->t,ode->state_internal,ode->DstateDt);
for (i=0;i<ode->n_internal;i++)
ode->state_internal[i]=(ode->state_internal[i]-
ode->initial_state[i])*interpolation+
ode->initial_state[i];
}
ode->t=t_desired;
}
ode_done:
ODEInternal2State(ode);
ode->state_scale[i]=Abs(ode->state_internal[i])+
Abs(ode->DstateDt[i]*ode->h)+ode->tolerance_internal;
ODERK5OneStep(ode);
if (tS>timeout_time) {
ode->base_t+=t_desired-ode->t; //Slip
goto ode_done;
//Convenience call to set vals
ODECallDerivative(ode,ode->t,ode->state_internal,ode->DstateDt);
}
}
//Interpolate if end time was not exact.
if (ode->t!=t_desired) {
if (interpolation=ode->t-t_initial) {
interpolation=(t_desired-t_initial)/interpolation;
if (interpolation!=1.0)
for (i=0;i<ode->n_internal;i++)
ode->state_internal[i]=(ode->state_internal[i]-
ode->initial_state[i])*interpolation+
ode->initial_state[i];
}
ode->t=t_desired;
}
ode_done:
ODEInternal2State(ode);
//Convenience call to set vals
ODECallDerivative(ode,ode->t,ode->state_internal,ode->DstateDt);
if (ode->mp_derive)
ODEMPSleep(ode);
}
}
ode->flags&=~ODEF_BUSY;
}
ode->base_t+=(1.0-ode->t_scale)*d;
ode=ode->next;
@@ -592,7 +671,7 @@ ode_done:
ode=task->next_ode;
while (ode!=&task->next_ode) {
if (!(ode->flags&ODEF_PAUSED) && ode->derivative) {
if (!(ode->flags&ODEF_PAUSED) && ode->derive) {
if (ode->min_tolerance!=ode->max_tolerance) {
if (d>0)
ode->tolerance_internal*=10.0`d;