wcs.h

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#ifndef WCSH
#define WCSH

#include "boolean.h"
#include "parameters.h"

#include "cuiksystem.h"
#include "world.h"

#ifdef _OPENMP
  #include <omp.h>
#endif

typedef struct {
  boolean isCS;    
  TCuikSystem *cs; 
  Tworld *w;       
} TAtlasBase;


#define CS_WD_EXT "world/cuik"


void InitCSWDFromFile(Tparameters *pr,char *name,TAtlasBase *wcs);

#define CS_WD_INIT(pr,name,wcs) InitCSWDFromFile(pr,name,wcs)

#define CS_WD_FROM_WORLD(ptr,wcs) { (wcs)->isCS=FALSE; (wcs)->cs=NULL; (wcs)->w=ptr; } 

#define CS_WD_FROM_CUIKSYSTEM(ptr,wcs) { (wcs)->isCS=TRUE; (wcs)->cs=ptr; (wcs)->w=NULL; } 

#define ON_CUIKSYSTEM(wcs) (wcs)->isCS


#define GET_WORLD(wcs) (wcs)->w

#define GET_CUIKSYSTEM(wcs) (wcs)->cs


#define CS_WD_EVALUATE_SIMP_EQUATIONS(pr,p,r,wcs) if ((wcs)->isCS) EvaluateSimpCSEquations(pr,p,r,(wcs)->cs); else WorldEvaluateSimpEquations(pr,p,r,(wcs)->w);

#define CS_WD_EVALUATE_SUBSET_SIMP_EQUATIONS(pr,st,p,r,wcs) if ((wcs)->isCS) EvaluateSubSetSimpCSEquations(pr,st,p,r,(wcs)->cs); else WorldEvaluateSubSetSimpEquations(pr,st,p,r,(wcs)->w);

#define CS_WD_SIMP_INEQUALITIES_HOLD(pr,p,wcs) ((wcs)->isCS ? SimpInequalitiesHoldOnPoint(pr,p,(wcs)->cs) : WorldSimpInequalitiesHold(pr,p,(wcs)->w))


#define CS_WD_SIMP_INEQUALITIES_ERROR(pr,p,wcs) ((wcs)->isCS ? ErrorInSimpInequalitiesOnPoint(pr,p,(wcs)->cs) : WorldErrorInSimpInequalities(pr,p,(wcs)->w))

#define CS_WD_GET_SYSTEM_VARS(sv,wcs) ((wcs)->isCS ? GetCSSystemVars(sv,(wcs)->cs) : GetWorldSystemVars(sv,(wcs)->w))

#define CS_WD_GET_SYSTEM_VAR_NAME(id,wcs) ((wcs)->isCS ? GetCSSystemVariableName(id,(wcs)->cs) : GetWorldSystemVarName(id,(wcs)->w))

#define CS_WD_GET_NUM_SYSTEM_VARS(wcs) ((wcs)->isCS ? GetCSNumSystemVariables((wcs)->cs) : GetWorldNumSystemVariables((wcs)->w))

#define CS_WD_GET_VAR_TOPOLOGY(varID,wcs)  ((wcs)->isCS ? GetCSVarTopology(varID,(wcs)->cs) : GetWorldVarTopology(varID,(wcs)->w))

#define CS_WD_REGENERATE_ORIGINAL_POINT(pr,p,o,wcs) ((wcs)->isCS ? RegenerateOriginalPoint(pr,p,o,(wcs)->cs) : RegenerateWorldOriginalPoint(pr,p,o,(wcs)->w))

#define CS_WD_INIT_CD(pr,mt,wcs) { if (!(wcs)->isCS) InitWorldCD(pr,mt,(wcs)->w); }

#ifdef _OPENMP
#define CS_WD_TEST_COLLISION(f,pr,all,s,sPrev,wcs) { if (((wcs)->isCS)||(!WorldCanCollide((wcs)->w))) f=FALSE; else { double *oPrev=NULL,*o; \
                                               RegenerateWorldOriginalPoint(pr,s,&o,(wcs)->w);if ((sPrev!=NULL)&&(WorldContinuousCD((wcs)->w))) RegenerateWorldOriginalPoint(pr,sPrev,&oPrev,(wcs)->w); \
                                               f=MoveAndCheckCD(pr,all,omp_get_thread_num(),o,oPrev,(wcs)->w); \
                                               free(o);if (oPrev!=NULL) free(oPrev);} \
                                             }
#else
#define CS_WD_TEST_COLLISION(f,pr,all,s,sPrev,wcs) { if (((wcs)->isCS)||(!WorldCanCollide((wcs)->w))) f=FALSE; else { double *oPrev=NULL,*o; \
                                               RegenerateWorldOriginalPoint(pr,s,&o,(wcs)->w);if ((sPrev!=NULL)&&(WorldContinuousCD((wcs)->w))) RegenerateWorldOriginalPoint(pr,sPrev,&oPrev,(wcs)->w); \
                                               f=MoveAndCheckCD(pr,all,0,o,oPrev,(wcs)->w); \
                                               free(o);if (oPrev!=NULL) free(oPrev);} \
                                             }
#endif

#define CS_WD_IN_COLLISION(f,pr,s,sPrev,wcs) CS_WD_TEST_COLLISION(f,pr,FALSE,s,sPrev,wcs)


#define CS_WD_ALL_COLLISIONS(f,pr,s,sPrev,wcs) CS_WD_TEST_COLLISION(f,pr,TRUE,s,sPrev,wcs)

#ifdef _OPENMP
  #define CS_WD_ORIGINAL_IN_COLLISION(pr,o,oPrev,wcs) (((wcs)->isCS)||(!WorldCanCollide((wcs)->w)) ? FALSE : MoveAndCheckCD(pr,FALSE,omp_get_thread_num(),o,oPrev,(wcs)->w))
#else
  #define CS_WD_ORIGINAL_IN_COLLISION(pr,o,oPrev,wcs) (((wcs)->isCS)||(!WorldCanCollide((wcs)->w)) ? FALSE : MoveAndCheckCD(pr,FALSE,0,o,oPrev,(wcs)->w))
#endif

#define CS_WD_COST_PTR(wcs) ((wcs)->isCS ? (void *)((wcs)->cs) : (void *)((wcs)->w))

#define CS_WD_COST_FN(wcs) ((wcs)->isCS ? EvaluateCSCost : EvaluateWorldCost)

#define CS_WD_COST(pr,simp,p,wcs) ((wcs)->isCS ? EvaluateCSCost(pr,simp,p,(void *)((wcs)->cs)) : EvaluateWorldCost(pr,simp,p,(void *)((wcs)->w)))

#define CS_WD_GET_SIMP_TOPOLOGY(pr,tp,wcs) ((wcs)->isCS ? GetSimpCSTopology(pr,tp,(wcs)->cs) : GetWorldSimpTopology(pr,tp,(wcs)->w))

#define CS_WD_GET_TOPOLOGY(pr,tp,wcs) ((wcs)->isCS ? GetCSTopology(pr,tp,(wcs)->cs) : GetWorldTopology(pr,tp,(wcs)->w))

#define CS_WD_REGENERATE_SOLUTION_POINT(pr,p,r,wcs) ((wcs)->isCS ? RegenerateSolutionPoint(pr,p,r,(wcs)->cs) : RegenerateWorldSolutionPoint(pr,p,r,(wcs)->w))

#define CS_WD_GENERATE_SIMPLIFIED_POINT(pr,p,r,wcs)  ((wcs)->isCS ? GenerateSimplifiedPoint(pr,p,r,(wcs)->cs) : WorldGenerateSimplifiedPoint(pr,p,r,(wcs)->w))

#define CS_WD_ERROR_IN_SIMP_EQUATIONS(pr,p,wcs) ((wcs)->isCS ? ErrorInSimpCSEquations(pr,p,(wcs)->cs) : WorldErrorInSimpEquations(pr,p,(wcs)->w))

#define CS_WD_ERROR_IN_EQUATIONS(p,wcs) ((wcs)->isCS ? ErrorInCSEquations(p,(wcs)->cs) : WorldErrorInEquations(p,(wcs)->w))

#define CS_WD_GENERATE_SIMP_INITIAL_BOX(pr,b,wcs) { if ((wcs)->isCS) GenerateSimpInitialBox(pr,b,(wcs)->cs); else GetWorldSimpInitialBox(pr,b,(wcs)->w); }

#define CS_WD_GET_SIMP_JACOBIAN(pr,J,wcs) { if ((wcs)->isCS)  GetSimpCSJacobian(pr,J,(wcs)->cs); else GetWorldSimpJacobian(pr,J,(wcs)->w); }

#define CS_WD_MANIFOLD_DIMENSION(pr,p,wcs) ((wcs)->isCS ?  ManifoldDimension(pr,p,(wcs)->cs) : WorldManifoldDimension(pr,p,(wcs)->w))


#define CS_WD_NEWTON_IN_SIMP(pr,p,wcs) ((wcs)->isCS ? CuikNewtonSimp(pr,p,(wcs)->cs) : WorldSimpCuikNewton(pr,p,(wcs)->w))

#define CS_WD_DELETE(wcs)  { if ((wcs)->isCS) { DeleteCuikSystem((wcs)->cs); free((wcs)->cs); } else { DeleteWorld((wcs)->w); free((wcs)->w); } }

#endif