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Revision 6a2ebb18

Added by Leszek Koltunski about 8 years ago

ID 6a2ebb18d902cd039f59fe3080feef748272c02b
Parent c6dec65b
Child a36b0cbb

Next fixes for issues with 'jumping' path when noise is on. (and a whole lot of commented out debugging)

     // we have the solution:  X(t) = at^3 + bt^2 + ct + d where
     // a =  2*P[i](x) +   w[i](x) - 2*P[i+1](x) + w[i+1](x)
     // b = -3*P[i](x) - 2*w[i](x) + 3*P[i+1](x) - w[i+1](x)
     // c = w[i](x)<br>
     // c = w[i](x)
     // d = P[i](x)
     //
     // and similarly Y(t) and Z(t).
-...
        */
       public static final int MODE_JUMP = 2;
       protected static Random mRnd = new Random();
       protected static final int NUM_NOISE = 5; // used iff mNoise>0.0. Number of intermediary points between each pair of adjacent vectors
                                                 // where we randomize noise factors to make the way between the two vectors not so smooth.
       protected int mDimension;
       protected int numPoints;
       protected int mVecCurr;
-...
       protected float[] mFactor;
       protected float[] mNoise;
       protected float[][] baseV;
       private float[] buf;
       private float[] old;
       ///////////////////////////////////////////////////////////////////////////////////////////////////
       // the coefficients of the X(t), Y(t) and Z(t) polynomials: X(t) = ax*T^3 + bx*T^2 + cx*t + dx  etc.
-...
       protected Vector<VectorCache> vc;
       protected VectorCache tmp1, tmp2;
       private float[] buf;
       private float[] old;
       private static Random mRnd = new Random();
       private static final int NUM_NOISE = 5; // used iff mNoise>0.0. Number of intermediary points between each pair of adjacent vectors
                                               // where we randomize noise factors to make the way between the two vectors not so smooth.
     //private int lastNon;
     ///////////////////////////////////////////////////////////////////////////////////////////////////
     // hide this from Javadoc
-...
       private void checkBase()
+        {
         float tmp;
         float tmp, cosA;
         float[] len= new float[mDimension];
         boolean error=false;
         for(int i=0; i<mDimension; i++)
+          {
           len[i] = 0.0f;
           for(int k=0; k<mDimension; k++)
+            {
             len[i] += baseV[i][k]*baseV[i][k];
+            }
           if( len[i] == 0.0f || len[0]/len[i] < 0.95f || len[0]/len[i]>1.05f )
+            {
             android.util.Log.e("dynamic", "length of vector "+i+" : "+Math.sqrt(len[i]));
             error = true;
+            }
+          }
         for(int i=0; i<mDimension; i++)
           for(int j=i+1; j<mDimension; j++)
-...
               tmp += baseV[i][k]*baseV[j][k];
+              }
             android.util.Log.e("dynamic", "vectors "+i+" and "+j+" : "+tmp);
+            }
         for(int i=0; i<mDimension; i++)
+          {
           tmp = 0.0f;
             cosA = ( (len[i]==0.0f || len[j]==0.0f) ? 0.0f : tmp/(float)Math.sqrt(len[i]*len[j]));
           for(int k=0; k<mDimension; k++)
+            {
             tmp += baseV[i][k]*baseV[i][k];
             if( cosA > 0.05f || cosA < -0.05f )
+              {
               android.util.Log.e("dynamic", "cos angle between vectors "+i+" and "+j+" : "+cosA);
               error = true;
+              }
+            }
           android.util.Log.e("dynamic", "length of vector "+i+" : "+Math.sqrt(tmp));
+          }
         if( error ) printBase("");
+        }
     ///////////////////////////////////////////////////////////////////////////////////////////////////
-...
         computeOrthonormalBase();
+        }
     ///////////////////////////////////////////////////////////////////////////////////////////////////
     // debugging
     /*
       protected void computeOrthonormalBaseMoreDebug(float time,VectorCache vc)
+        {
         for(int i=0; i<mDimension; i++)
+          {
           baseV[0][i] = (3*vc.a[i]*time+2*vc.b[i])*time+vc.c[i];   // first derivative, i.e. velocity vector
           baseV[1][i] =  6*vc.a[i]*time+2*vc.b[i];                 // second derivative,i.e. acceleration vector
+          }
         float av=0.0f, vv=0.0f;
         android.util.Log.e("dyn3D", " ==>  velocity     ("+baseV[0][0]+","+baseV[0][1]+","+baseV[0][2]+")");
         android.util.Log.e("dyn3D", " ==>  acceleration ("+baseV[1][0]+","+baseV[1][1]+","+baseV[1][2]+")");
         for(int k=0; k<mDimension; k++)
+          {
           vv += baseV[0][k]*baseV[0][k];
           av += baseV[1][k]*baseV[0][k];
+          }
         android.util.Log.e("dyn3D", " ==>  av: "+av+" vv="+vv);
         av /= vv;
         for(int k=0;k<mDimension; k++)
+          {
           baseV[1][k] -= av*baseV[0][k];
+          }
         android.util.Log.e("dyn3D", " ==>  second base ("+baseV[1][0]+","+baseV[1][1]+","+baseV[1][2]+")");
+        }
     */
     ///////////////////////////////////////////////////////////////////////////////////////////////////
     // helper function in case we are interpolating through more than 2 points
-...
+        {
         for(int i=0; i<mDimension; i++)
+          {
           baseV[0][i] = (3*vc.a[i]*time+2*vc.b[i])*time+vc.c[i];
           baseV[1][i] =  6*vc.a[i]*time+2*vc.b[i];
           baseV[0][i] = (3*vc.a[i]*time+2*vc.b[i])*time+vc.c[i];   // first derivative, i.e. velocity vector
           old[i]      = baseV[1][i];
           baseV[1][i] =  6*vc.a[i]*time+2*vc.b[i];                 // second derivative,i.e. acceleration vector
+          }
         computeOrthonormalBase();
-...
+        {
         int non_zeros=0;
         int last_non_zero=-1;
         float value;
         for(int i=0; i<mDimension; i++)
+          {
           value = baseV[0][i];
         float tmp;
           if( value != 0.0f )
         for(int i=0; i<mDimension; i++)
           if( baseV[0][i] != 0.0f )
+            {
             non_zeros++;
             last_non_zero=i;
+            }
+          }
                              // velocity is the 0 vector -> two consecutive points we are interpolating
         if( non_zeros==0 )   // through are identical -> no noise, set the base to 0 vectors.
+          {
           for(int i=0; i<mDimension-1; i++)
             for(int j=0; j<mDimension; j++)
               baseV[i+1][j]= 0.0f;
+          }
     /*
     if( last_non_zero != lastNon )
       android.util.Log.e("dynamic", "lastNon="+lastNon+" last_non_zero="+last_non_zero);
     */
         if( non_zeros==0 )                                                    ///
           {                                                                   //  velocity is the 0 vector -> two
           for(int i=0; i<mDimension-1; i++)                                   //  consecutive points we are interpolating
             for(int j=0; j<mDimension; j++)                                   //  through are identical -> no noise,
               baseV[i+1][j]= 0.0f;                                            //  set the base to 0 vectors.
           }                                                                   ///
         else
+          {
           // We can use (modified!) Gram-Schmidt.
           //
           // b[0] = b[0]
           // b[1] = b[1] - (<b[1],b[0]>/<b[0],b[0]>)*b[0]
           // b[2] = b[2] - (<b[2],b[0]>/<b[0],b[0]>)*b[0] - (<b[2],b[1]>/<b[1],b[1]>)*b[1]
           // b[3] = b[3] - (<b[3],b[0]>/<b[0],b[0]>)*b[0] - (<b[3],b[1]>/<b[1],b[1]>)*b[1] - (<b[3],b[2]>/<b[2],b[2]>)*b[2]
           // (...)
           // then b[i] = b[i] / |b[i]|
           float tmp;
           for(int i=1; i<mDimension; i++)          /// one iteration computes baseV[i][*], the i-th orthonormal vector.
+            {
             buf[i-1]=0.0f;
             for(int k=0; k<mDimension; k++)
+              {
               old[k] = baseV[i][k];
               if( (i<=last_non_zero && k==i-1) || (i>=(last_non_zero+1) && k==i) )
                 baseV[i][k]= baseV[0][last_non_zero];
               else
                 baseV[i][k]= 0.0f;
               value = baseV[i-1][k];
               buf[i-1] += value*value;
+              }
             for(int j=0; j<i; j++)
+              {
               tmp = 0.0f;
               for(int k=0;k<mDimension; k++)
+                {
                 tmp += baseV[i][k]*baseV[j][k];
+                }
               tmp /= buf[j];
               for(int k=0;k<mDimension; k++)
+                {
                 baseV[i][k] -= tmp*baseV[j][k];
+                }
+              }
             if( i>=2 ) checkAngle(i);
             }                                       /// end compute baseV[i][*]
           buf[mDimension-1]=0.0f;                   /// Normalize
           for(int k=0; k<mDimension; k++)           //
             {                                       //
             value = baseV[mDimension-1][k];         //
             buf[mDimension-1] += value*value;       //
             }                                       //
                                                     //
           for(int i=1; i<mDimension; i++)           //
             {                                       //
             tmp = (float)Math.sqrt(buf[0]/buf[i]);  //
                                                     //
             for(int k=0;k<mDimension; k++)          //
               {                                     //
               baseV[i][k] *= tmp;                   //
               }                                     //
             }                                       /// End Normalize
           for(int i=1; i<mDimension; i++)                                     /// One iteration computes baseV[i][*]
             {                                                                 //  (aka b[i]), the i-th orthonormal vector.
             buf[i-1]=0.0f;                                                    //
                                                                               //  We can use (modified!) Gram-Schmidt.
             for(int k=0; k<mDimension; k++)                                   //
               {                                                               //
               if( i>=2 )                                                      //  b[0] = b[0]
                 {                                                             //  b[1] = b[1] - (<b[1],b[0]>/<b[0],b[0]>)*b[0]
                 old[k] = baseV[i][k];                                         //  b[2] = b[2] - (<b[2],b[0]>/<b[0],b[0]>)*b[0] - (<b[2],b[1]>/<b[1],b[1]>)*b[1]
                 baseV[i][k]= (k==i-(last_non_zero>=i?1:0)) ? 1.0f : 0.0f;     //  b[3] = b[3] - (<b[3],b[0]>/<b[0],b[0]>)*b[0] - (<b[3],b[1]>/<b[1],b[1]>)*b[1] - (<b[3],b[2]>/<b[2],b[2]>)*b[2]
                 }                                                             //  (...)
                                                                               //  then b[i] = b[i] / |b[i]|  ( Here really b[i] = b[i] / (|b[0]|/|b[i]|)
               tmp = baseV[i-1][k];                                            //
               buf[i-1] += tmp*tmp;                                            //
               }                                                               //
                                                                               //
             for(int j=0; j<i; j++)                                            //
               {                                                               //
               tmp = 0.0f;                                                     //
               for(int k=0;k<mDimension; k++) tmp += baseV[i][k]*baseV[j][k];  //
               tmp /= buf[j];                                                  //
               for(int k=0;k<mDimension; k++) baseV[i][k] -= tmp*baseV[j][k];  //
               }                                                               //
                                                                               //
             checkAngle(i);                                                    //
             }                                                                 /// end compute baseV[i][*]
           buf[mDimension-1]=0.0f;                                             /// Normalize
           for(int k=0; k<mDimension; k++)                                     //
             {                                                                 //
             tmp = baseV[mDimension-1][k];                                     //
             buf[mDimension-1] += tmp*tmp;                                     //
             }                                                                 //
                                                                               //
           for(int i=1; i<mDimension; i++)                                     //
             {                                                                 //
             tmp = (float)Math.sqrt(buf[0]/buf[i]);                            //
             for(int k=0;k<mDimension; k++) baseV[i][k] *= tmp;                //
             }                                                                 /// End Normalize
+          }
     //lastNon = last_non_zero;
         //printBase("end");
         //checkBase();
+        }

+      {
       private Vector<Static3D> vv;
       private Static3D prev, curr, next;
     /*
     private float a0,a1,a2;
     private float f0, f1;
     private float b00,b01,b02;
     private float b10,b11,b12;
     private float b20,b21,b22;
     private float oldTime;
     */
     ///////////////////////////////////////////////////////////////////////////////////////////////////
     // no array bounds checking!
-...
                       buffer[offset  ]= ((tmp1.a[0]*time+tmp1.b[0])*time+tmp1.c[0])*time+tmp1.d[0] + (baseV[1][0]*mFactor[0] + baseV[2][0]*mFactor[1]);
                       buffer[offset+1]= ((tmp1.a[1]*time+tmp1.b[1])*time+tmp1.c[1])*time+tmp1.d[1] + (baseV[1][1]*mFactor[0] + baseV[2][1]*mFactor[1]);
                       buffer[offset+2]= ((tmp1.a[2]*time+tmp1.b[2])*time+tmp1.c[2])*time+tmp1.d[2] + (baseV[1][2]*mFactor[0] + baseV[2][2]*mFactor[1]);
     /*
                       float d0 = buffer[offset+0] - a0;
                       float d1 = buffer[offset+1] - a1;
                       float d2 = buffer[offset+2] - a2;
                       float distSQ = d0*d0+d1*d1+d2*d2;
                       if( distSQ>500.0f )
+                        {
                         android.util.Log.e("dyn3D", "distSQ="+distSQ);
                         android.util.Log.e("dyn3D", "factors old0="+f0+" new0="+mFactor[0]+" old1="+f1+" new1="+mFactor[1]);
                         android.util.Log.e("dyn3D", "first  base: old ("+b00+","+b01+","+b02+") new ("+baseV[0][0]+","+baseV[0][1]+","+baseV[0][2]+")");
                         android.util.Log.e("dyn3D", "second base: old ("+b10+","+b11+","+b12+") new ("+baseV[1][0]+","+baseV[1][1]+","+baseV[1][2]+")");
                         android.util.Log.e("dyn3D", "third  base: old ("+b20+","+b21+","+b22+") new ("+baseV[2][0]+","+baseV[2][1]+","+baseV[2][2]+")");
                         String s1= "velocity: old (";
                         String s2= "acceleration: old (";
                         for(int i=0; i<mDimension; i++)
+                          {
                           s1 += (((3*tmp1.a[i]*oldTime+2*tmp1.b[i])*oldTime+tmp1.c[i])+(i==mDimension-1 ? ") new (":","));
                           s2 += ( (6*tmp1.a[i]*oldTime+2*tmp1.b[i])                   +(i==mDimension-1 ? ") new (":","));
+                          }
                         for(int i=0; i<mDimension; i++)
+                          {
                           s1 += (((3*tmp1.a[i]*time+2*tmp1.b[i])*time+tmp1.c[i])+(i==mDimension-1 ? ")":","));
                           s2 += ( (6*tmp1.a[i]*time+2*tmp1.b[i])                +(i==mDimension-1 ? ")":","));
+                          }
                         android.util.Log.e("dyn3D", s1);
                         android.util.Log.e("dyn3D", s2);
                         computeOrthonormalBaseMoreDebug(oldTime,tmp1);
                         computeOrthonormalBaseMoreDebug(   time,tmp1);
+                        }
                       a0 = buffer[offset+0];
                       a1 = buffer[offset+1];
                       a2 = buffer[offset+2];
                       f0 = mFactor[0];
                       f1 = mFactor[1];
                       b00 = baseV[0][0];
                       b01 = baseV[0][1];
                       b02 = baseV[0][2];
                       b10 = baseV[1][0];
                       b11 = baseV[1][1];
                       b12 = baseV[1][2];
                       b20 = baseV[2][0];
                       b21 = baseV[2][1];
                       b22 = baseV[2][2];
                       oldTime = time;
     */
+                      }
                     else
+                      {

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Distorted Android

Revision 6a2ebb18

Added by Leszek Koltunski about 8 years ago