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finished error compare

master
cflin 2 years ago
parent
a2f7031a94
commit
d94303292a
34 changed files with 34 additions and 40 deletions
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  1. 2
      engine/ref_res/10.txt
  2. 2
      engine/ref_res/11.txt
  3. 1
      engine/ref_res/12.txt
  4. 1
      engine/ref_res/13.txt
  5. 1
      engine/ref_res/14.txt
  6. 1
      engine/ref_res/15.txt
  7. 1
      engine/ref_res/16.txt
  8. 1
      engine/ref_res/17.txt
  9. 1
      engine/ref_res/18.txt
  10. 1
      engine/ref_res/19.txt
  11. 2
      engine/ref_res/2.txt
  12. 1
      engine/ref_res/20.txt
  13. 1
      engine/ref_res/21.txt
  14. 1
      engine/ref_res/22.txt
  15. 1
      engine/ref_res/23.txt
  16. 1
      engine/ref_res/24.txt
  17. 1
      engine/ref_res/25.txt
  18. 1
      engine/ref_res/26.txt
  19. 1
      engine/ref_res/27.txt
  20. 1
      engine/ref_res/28.txt
  21. 1
      engine/ref_res/29.txt
  22. 2
      engine/ref_res/3.txt
  23. 1
      engine/ref_res/30.txt
  24. 1
      engine/ref_res/31.txt
  25. 1
      engine/ref_res/32.txt
  26. 1
      engine/ref_res/33.txt
  27. 1
      engine/ref_res/34.txt
  28. 2
      engine/ref_res/4.txt
  29. 2
      engine/ref_res/5.txt
  30. 2
      engine/ref_res/6.txt
  31. 2
      engine/ref_res/7.txt
  32. 2
      engine/ref_res/8.txt
  33. 2
      engine/ref_res/9.txt
  34. 31
      src/viewer/UIMenu.cpp

2
engine/ref_res/10.txt
View File

@ -1 +1 @@
{"子模型":{"刚体 1":{"位置":[-2.2122100178271336e-07,0.026202582830305146,0.11923826615640849],"旋转角":[0.0,0.0,0.706697732270907],"线速度":[0.0,0.0,0.0],"角速度":[0.0,0.0,7.853981633974483]},"刚体 2":{"位置":[0.03133198476664794,0.3016754157269893,0.29915434131017565],"旋转角":[-1.2204441109538944,1.2077657845513021,-1.2120424932307756],"线速度":[0.0,-0.012868951923339367,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 3":{"位置":[0.03132711355367557,0.2708720766108064,0.299454482914773],"旋转角":[-0.006986528609283673,1.570785113523426,-0.006968808098166027],"线速度":[0.0,-0.012869023655287526,0.0],"角速度":[0.0,0.0,0.0]},"刚体 4":{"位置":[0.009162730454036636,0.116726924241239,0.3008016805219586],"旋转角":[-0.0065790714225674955,-0.007682102397998187,-1.7135793367424517],"线速度":[-0.27231162056009833,0.023530168252761108,0.00037894878394673093],"角速度":[-0.0007117044093968069,-0.004311350489788274,-1.7642272984243925]},"刚体 5":{"位置":[-0.03132225469042243,0.21342070969964408,0.18570949728953612],"旋转角":[-1.2204383526467006,1.2077612736630332,-1.2120447314147647],"线速度":[0.0,-0.0907787522539727,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 6":{"位置":[-0.031327212808002325,0.1826139546250529,0.1860096238959064],"旋转角":[0.11909036988795153,-1.5663893488305425,0.1330116995416613],"线速度":[0.0,-0.0907787590766207,0.0],"角速度":[0.0,0.0,0.0]},"刚体 7":{"位置":[-0.010372315147414095,0.02830389656741463,0.187357213413338],"旋转角":[-0.007358800845275811,-0.006355953149508241,-1.435815195825944],"线速度":[0.2612656489671116,-0.05739162080774275,-0.0005936450580834585],"角速度":[-0.006236137156790689,0.0007858548582004461,1.6898747417262394]},"刚体 8":{"位置":[-0.03133215359712595,0.21256137260782332,0.07171188221303099],"旋转角":[-1.2189374470589676,1.2100735255366677,-1.2144482342988818],"线速度":[0.0,-0.08599747678627034,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 9":{"位置":[-0.03132652537664809,0.18175910950866747,0.07196073394524642],"旋转角":[0.9462715798445381,1.3468585919232936,-0.9583463829260476],"线速度":[0.0,-0.08599735591287017,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 10":{"位置":[-0.009883684783863308,0.027514896561477917,0.07336144238808112],"旋转角":[2.058961512929322,2.364973179810576,-0.010419179972666913],"线速度":[0.26768159843243344,-0.050976095768788185,-0.0006164350814463759],"角速度":[-0.0018967100849284352,0.002097845393385323,-1.7323395427411408]},"刚体 11":{"位置":[0.03132207143264278,0.299608433113446,-0.04283418248294256],"旋转角":[-1.218922685016547,1.2100614402321872,-1.2144552345066852],"线速度":[0.0,0.005620443596549007,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 12":{"位置":[0.03132765525135117,0.2688063288884533,-0.042585356121734454],"旋转角":[0.812251443784701,1.4064615922634565,-0.8248535938886019],"线速度":[0.0,0.005620552952989577,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 13":{"位置":[0.010741280256862983,0.11444659683820162,-0.04118539795092331],"旋转角":[2.3587120586547394,2.0650200253669464,-0.009265053984834962],"线速度":[-0.25970127469029586,0.03815796604989263,-0.00024394598952398594],"角速度":[0.0021382957848295765,-3.8622282793633614e-05,1.6790094905511395]}},"总模型":{"动能":0.04603018777520761,"势能":-0.5875805339762334,"线动量":[-0.0006404632789173623,-0.04979129666331979,-0.00022460051872291603],"角动量":[-7.125125836976411e-07,-2.1087499605657945e-06,0.0011112304877834767]},"时间步":0.01}
{"子模型":{"刚体 1":{"位置":[-2.2122100178271336e-07,0.026202582830305146,0.11923826615640849],"旋转角":[0.0,0.0,0.7067749775024599],"线速度":[0.0,0.0,0.0],"角速度":[0.0,0.0,7.853981633974483]},"刚体 2":{"位置":[0.03133198476664794,0.301675102103266,0.29915434131017565],"旋转角":[-1.2204441109538944,1.2077657845513021,-1.2120424932307756],"线速度":[0.0,-0.012886956016688877,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 3":{"位置":[0.03132711355367557,0.2708717629957231,0.299454482914773],"旋转角":[-0.006986528609283673,1.570785113523426,-0.006968808098166027],"线速度":[0.0,-0.012887024779817402,0.0],"角速度":[0.0,0.0,0.0]},"刚体 4":{"位置":[0.009159779386655461,0.11672703237695994,0.300801693563699],"旋转角":[-0.006579038622048574,-0.007682268634111946,-1.7135984844571779],"线速度":[-0.2722640236629915,0.023511456959175725,0.0003752308195215104],"角速度":[-0.0006995008894949747,-0.004283328808512328,-1.763923510456356]},"刚体 5":{"位置":[-0.03132225469042243,0.21341991988484377,0.18570949728953612],"旋转角":[-1.2204383526467006,1.2077612736630332,-1.2120447314147647],"线速度":[0.0,-0.09075612960053603,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 6":{"位置":[-0.031327212808002325,0.18261316481184703,0.1860096238959064],"旋转角":[0.11909036988795153,-1.5663893488305425,0.1330116995416613],"线速度":[0.0,-0.09075613964985574,0.0],"角速度":[0.0,0.0,0.0]},"刚体 7":{"位置":[-0.01036932303244218,0.028303513297876462,0.18735717564917767],"旋转角":[-0.007358688837275957,-0.006355708527511563,-1.4357958207479218],"线速度":[0.2612695130064938,-0.05736368195781126,-0.0005958075868756074],"角速度":[-0.006230480544748916,0.0007989674774180793,1.6899026589480393]},"刚体 8":{"位置":[-0.03133215359712595,0.21256064724907967,0.07171188221303099],"旋转角":[-1.2189374470589676,1.2100735255366677,-1.2144482342988818],"线速度":[0.0,-0.08597549050194664,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 9":{"位置":[-0.03132652537664809,0.18175838414485726,0.07196073394524642],"旋转角":[0.9462715798445381,1.3468585919232936,-0.9583463829260476],"线速度":[0.0,-0.08597537445455827,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 10":{"位置":[-0.009880671227593963,0.027514590039547884,0.07336138083925782],"旋转角":[2.058938651245919,2.3649935346925273,-0.010418906803208037],"线速度":[0.2676722158870661,-0.05095031145503047,-0.0006211272854106387],"角速度":[-0.001891584644559255,0.0021261360277062187,-1.7322818201474757]},"刚体 11":{"位置":[0.03132207143264278,0.2996095720178195,-0.04283418248294256],"旋转角":[-1.218922685016547,1.2100614402321872,-1.2144552345066852],"线速度":[0.0,0.005705417862811313,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 12":{"位置":[0.03132765525135117,0.2688074678069449,-0.042585356121734454],"旋转角":[0.812251443784701,1.4064615922634565,-0.8248535938886019],"线速度":[0.0,0.005705526929394855,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 13":{"位置":[0.010733576924710093,0.11444876454741286,-0.0411853720194159],"旋转角":[2.358763590143057,2.0649611708793407,-0.009265506269209614],"线速度":[-0.26019709753692005,0.0383136117478422,-0.00024197518548804697],"角速度":[0.0021687713500913204,-5.3831499052460916e-05,1.682226496200783]}},"总模型":{"动能":0.04606124912000012,"势能":-0.5875837812203667,"线动量":[-0.0007352576114335041,-0.0497271888181061,-0.00022639758918658118],"角动量":[-7.068325538436315e-07,-2.0307785130869026e-06,0.0011167072217790506]},"时间步":0.01}

2
engine/ref_res/11.txt
View File

@ -1 +1 @@
{"子模型":{"刚体 1":{"位置":[-2.2122100178271336e-07,0.026202582830305146,0.11923826615640849],"旋转角":[0.0,0.0,0.7852534047040888],"线速度":[0.0,0.0,0.0],"角速度":[0.0,0.0,7.853981633974483]},"刚体 2":{"位置":[0.03133198476664794,0.3011891900623718,0.29915434131017565],"旋转角":[-1.2204441109538944,1.2077657845513021,-1.2120424932307756],"线速度":[0.0,-0.048622566461747896,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 3":{"位置":[0.03132711355367557,0.2703858507387044,0.299454482914773],"旋转角":[-0.006986528609283673,1.570785113523426,-0.006968808098166027],"线速度":[0.0,-0.04862258721020085,0.0],"角速度":[0.0,0.0,0.0]},"刚体 4":{"位置":[0.006431695252866506,0.11665720858892908,0.3007883209764964],"旋转角":[-0.006454870586548003,-0.0077361896635756685,-1.7313282708611142],"线速度":[-0.27310352011701294,-0.006971565230991239,-0.0013359545462221512],"角速度":[0.003466325083362115,0.005914172345236984,-1.7749083542463755]},"刚体 5":{"位置":[-0.03132225469042243,0.2127271086747656,0.18570949728953612],"旋转角":[-1.2204383526467006,1.2077612736630332,-1.2120447314147647],"线速度":[0.0,-0.06936010248784763,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 6":{"位置":[-0.031327212808002325,0.18192035433959616,0.1860096238959064],"旋转角":[0.11909036988795153,-1.5663893488305425,0.1330116995416613],"线速度":[0.0,-0.06936002854567302,0.0],"角速度":[0.0,0.0,0.0]},"刚体 7":{"位置":[-0.007769877764184408,0.027984955192038707,0.18735176599625242],"旋转角":[-0.007365326896443283,-0.0062926789478419485,-1.418944219649509],"线速度":[0.26024373832296865,-0.031894137537592446,-0.0005447417085580053],"角速度":[0.0027321706690465984,0.001570647048460315,1.6871024892828637]},"刚体 8":{"位置":[-0.03133215359712595,0.21189844248280915,0.07171188221303099],"旋转角":[-1.2189374470589676,1.2100735255366677,-1.2144482342988818],"线速度":[0.0,-0.06629301250141717,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 9":{"位置":[-0.03132652537664809,0.1810961787806897,0.07196073394524642],"旋转角":[0.9462715798445381,1.3468585919232936,-0.9583463829260476],"线速度":[0.0,-0.06629307279777674,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 10":{"位置":[-0.007219766236600583,0.027244841191704075,0.07334990889134185],"旋转角":[2.0385317942150962,2.382761200136146,-0.010486275035616999],"线速度":[0.2663918547262725,-0.02700553697738417,-0.0011533496739268845],"角速度":[0.004015177076647319,0.004510096714045242,-1.7277401721880439]},"刚体 11":{"位置":[0.03132207143264278,0.29938741907994776,-0.04283418248294256],"旋转角":[-1.218922685016547,1.2100614402321872,-1.2144552345066852],"线速度":[0.0,-0.022101403349822357,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 12":{"位置":[0.03132765525135117,0.2685853160979188,-0.042585356121734454],"旋转角":[0.812251443784701,1.4064615922634565,-0.8248535938886019],"线速度":[0.0,-0.022101279053449163,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 13":{"位置":[0.008116182682209186,0.11459687994597884,-0.04118799815531077],"旋转角":[2.3761292549149697,2.044819497406475,-0.00913309431518068],"线速度":[-0.26250975746537963,0.015028310777721876,-0.00026002043874567837],"角速度":[-0.004556593371234064,-0.0012720571479401964,1.7016666172605794]}},"总模型":{"动能":0.045143812065760736,"势能":-0.5865395891853068,"线动量":[-0.0018755804847111757,-0.055524401905556374,-0.0006881821517192003],"角动量":[6.010418807452063e-07,1.5421299246197676e-05,0.0011321920242502838]},"时间步":0.01}
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engine/ref_res/12.txt
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engine/ref_res/13.txt
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@ -1 +0,0 @@
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engine/ref_res/14.txt
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1
engine/ref_res/15.txt
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engine/ref_res/16.txt
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engine/ref_res/17.txt
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engine/ref_res/18.txt
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1
engine/ref_res/19.txt
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@ -1 +0,0 @@
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2
engine/ref_res/2.txt
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@ -1 +1 @@
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1
engine/ref_res/20.txt
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1
engine/ref_res/21.txt
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1
engine/ref_res/22.txt
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engine/ref_res/23.txt
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engine/ref_res/24.txt
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1
engine/ref_res/25.txt
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engine/ref_res/26.txt
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engine/ref_res/27.txt
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engine/ref_res/28.txt
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1
engine/ref_res/29.txt
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@ -1 +0,0 @@
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2
engine/ref_res/3.txt
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1
engine/ref_res/30.txt
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engine/ref_res/31.txt
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engine/ref_res/32.txt
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engine/ref_res/33.txt
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engine/ref_res/34.txt
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@ -1 +0,0 @@
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2
engine/ref_res/4.txt
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@ -1 +1 @@
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2
engine/ref_res/5.txt
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@ -1 +1 @@
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2
engine/ref_res/6.txt
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@ -1 +1 @@
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2
engine/ref_res/7.txt
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@ -1 +1 @@
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2
engine/ref_res/8.txt
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@ -1 +1 @@
{"子模型":{"刚体 1":{"位置":[-2.2122100178271336e-07,0.026202582830305146,0.11923826615640849],"旋转角":[0.0,0.0,0.5495932813544482],"线速度":[0.0,0.0,0.0],"角速度":[0.0,0.0,7.853981633974483]},"刚体 2":{"位置":[0.03133198476664794,0.3015832021706175,0.29915434131017565],"旋转角":[-1.2204441109538944,1.2077657845513021,-1.2120424932307756],"线速度":[0.0,0.054157764091899985,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 3":{"位置":[0.03132711355367557,0.2707798628684462,0.299454482914773],"旋转角":[-0.006986528609283673,1.570785113523426,-0.006968808098166027],"线速度":[0.0,0.05415762568222182,0.0],"角速度":[0.0,0.0,0.0]},"刚体 4":{"位置":[0.014632813976600066,0.11595062444203061,0.3007943076973795],"旋转角":[-0.006605512767095124,-0.0074555414409055495,-1.67819337796468],"线速度":[-0.26552696434822937,0.08066827266679233,-0.0001277835675050909],"角速度":[0.0009890714037914736,-0.0008650042644430585,-1.7127093668935787]},"刚体 5":{"位置":[-0.03132225469042243,0.215421655716984,0.18570949728953612],"旋转角":[-1.2204383526467006,1.2077612736630332,-1.2120447314147647],"线速度":[0.0,-0.12814262896663764,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 6":{"位置":[-0.031327212808002325,0.18461490130875088,0.1860096238959064],"旋转角":[0.11909036988795153,-1.5663893488305425,0.1330116995416613],"线速度":[0.0,-0.12814252547505012,0.0],"角速度":[0.0,0.0,0.0]},"刚体 7":{"位置":[-0.015596369724020733,0.029681447612498444,0.18736275319257825],"旋转角":[-0.007220312702328749,-0.006556457781668294,-1.4695943231210071],"线速度":[0.2533887155655239,-0.10448622075501963,0.0003492524136616826],"角速度":[0.0009417720953321194,-0.0035657115913102833,1.635952185847761]},"刚体 8":{"位置":[-0.03133215359712595,0.21450135257982786,0.07171188221303099],"旋转角":[-1.2189374470589676,1.2100735255366677,-1.2144482342988818],"线速度":[0.0,-0.12544435398219866,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 9":{"位置":[-0.03132652537664809,0.18369908924795847,0.07196073394524642],"旋转角":[0.9462715798445381,1.3468585919232936,-0.9583463829260476],"线速度":[0.0,-0.12544422605966776,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 10":{"位置":[-0.015195237898762173,0.02880522847846252,0.0733708347304666],"旋转角":[2.0992035132684888,2.329176850441306,-0.010323514119814768],"线速度":[0.25951594313154797,-0.1006685649241286,0.00013299038791880768],"角速度":[-0.0003767275424489992,-0.002379288426861049,-1.6759119714898092]},"刚体 11":{"位置":[0.03132207143264278,0.29917322631772514,-0.04283418248294256],"旋转角":[-1.218922685016547,1.2100614402321872,-1.2144552345066852],"线速度":[0.0,0.07455030860802347,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 12":{"位置":[0.03132765525135117,0.2683711239705869,-0.042585356121734454],"旋转角":[0.812251443784701,1.4064615922634565,-0.8248535938886019],"线速度":[0.0,0.07455057820936473,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 13":{"位置":[0.015845247327282506,0.11341252507927319,-0.04118536341090841],"旋转角":[2.3243582372619964,2.1036641452065377,-0.0092724921572681],"线速度":[-0.25420104114073466,0.09795013426629612,-0.0005774417081584604],"角速度":[-0.001829727724723328,0.0021731055434679727,1.641062850116403]}},"总模型":{"动能":0.049721662786176374,"势能":-0.58933618028489,"线动量":[-0.0014255055006163753,-0.03271439130337421,-4.6584535355826266e-05],"角动量":[-2.9282615079911885e-08,-6.668651221352364e-06,0.0011356439911912558]},"时间步":0.01}
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2
engine/ref_res/9.txt
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@ -1 +1 @@
{"子模型":{"刚体 1":{"位置":[-2.2122100178271336e-07,0.026202582830305146,0.11923826615640849],"旋转角":[0.0,0.0,0.628143820926947],"线速度":[0.0,0.0,0.0],"角速度":[0.0,0.0,7.853981633974483]},"刚体 2":{"位置":[0.03133198476664794,0.3018041052462227,0.29915434131017565],"旋转角":[-1.2204441109538944,1.2077657845513021,-1.2120424932307756],"线速度":[0.0,0.02209030756051833,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 3":{"位置":[0.03132711355367557,0.2710007668473593,0.299454482914773],"旋转角":[-0.006986528609283673,1.570785113523426,-0.006968808098166027],"线速度":[0.0,0.022090397891311175,0.0],"角速度":[0.0,0.0,0.0]},"刚体 4":{"位置":[0.011885846659637619,0.11649162255871139,0.30079789103411914],"旋转角":[-0.006590533096435877,-0.007571914811672614,-1.6959373118799235],"线速度":[-0.2746967316962447,0.0540998116680777,0.0003583336739609866],"角速度":[-0.0001229813894181031,-0.004489053398946693,-1.7744213253508752]},"刚体 5":{"位置":[-0.03132225469042243,0.2143284972221838,0.18570949728953612],"旋转角":[-1.2204383526467006,1.2077612736630332,-1.2120447314147647],"线速度":[0.0,-0.10931584948001838,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 6":{"位置":[-0.031327212808002325,0.1835217422158191,0.1860096238959064],"旋转角":[0.11909036988795153,-1.5663893488305425,0.1330116995416613],"线速度":[0.0,-0.10931590929317836,0.0],"角速度":[0.0,0.0,0.0]},"刚体 7":{"位置":[-0.01298497163708521,0.02887781277549206,0.18736314986391883],"旋转角":[-0.007280837314627927,-0.006487530234635962,-1.4527135117791994],"线速度":[0.2611398086935522,-0.08036348370063853,3.9667134058007925e-05],"角速度":[-0.0008555683483108464,-0.0017863452720017548,1.6880946543946032]},"刚体 8":{"位置":[-0.03133215359712595,0.21342134737568602,0.07171188221303099],"旋转角":[-1.2189374470589676,1.2100735255366677,-1.2144482342988818],"线速度":[0.0,-0.10800052041418373,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 9":{"位置":[-0.03132652537664809,0.18261908306779617,0.07196073394524642],"旋转角":[0.9462715798445381,1.3468585919232936,-0.9583463829260476],"线速度":[0.0,-0.10800061801622962,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 10":{"位置":[-0.012560500768187642,0.0280246575191658,0.07336760673889559],"旋转角":[2.0793305170089886,2.3470072858209945,-0.010383637885878632],"线速度":[0.26347371305745304,-0.07805709592967197,-0.0003227991571014277],"角速度":[-0.0010011360741942876,0.0007450161986929207,-1.7029936696267967]},"刚体 11":{"位置":[0.03132207143264278,0.2995522286774805,-0.04283418248294256],"旋转角":[-1.218922685016547,1.2100614402321872,-1.2144552345066852],"线速度":[0.0,0.03790023597553538,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 12":{"位置":[0.03132765525135117,0.2687501233589234,-0.042585356121734454],"旋转角":[0.812251443784701,1.4064615922634565,-0.8248535938886019],"线速度":[0.0,0.03789993883365206,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 13":{"位置":[0.013338293003765942,0.11406501717770269,-0.04118295849102807],"旋转角":[2.3413191572866068,2.084771831010173,-0.009328767853094555],"线速度":[-0.2506954323516565,0.06524920984295052,0.00024049198803360872],"角速度":[0.009980568720873998,-0.0023705411549730334,1.6196763021914975]}},"总模型":{"动能":0.04753546375227294,"势能":-0.5885362394830838,"线动量":[-0.00016267199514070907,-0.04239287610260333,6.595335648078385e-05],"角动量":[8.500614403684096e-07,-1.136287480594888e-05,0.0010475078142607192]},"时间步":0.01}
{"子模型":{"刚体 1":{"位置":[-2.2122100178271336e-07,0.026202582830305146,0.11923826615640849],"旋转角":[0.0,0.0,0.6282219941143828],"线速度":[0.0,0.0,0.0],"角速度":[0.0,0.0,7.853981633974483]},"刚体 2":{"位置":[0.03133198476664794,0.30180397166343287,0.29915434131017565],"旋转角":[-1.2204441109538944,1.2077657845513021,-1.2120424932307756],"线速度":[0.0,0.02203891473888664,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 3":{"位置":[0.03132711355367557,0.27100063324352125,0.299454482914773],"旋转角":[-0.006986528609283673,1.570785113523426,-0.006968808098166027],"线速度":[0.0,0.022039002047913314,0.0],"角速度":[0.0,0.0,0.0]},"刚体 4":{"位置":[0.011882419623285376,0.11649191780736819,0.3007979412555038],"旋转角":[-0.0065908036873738845,-0.007572243178628519,-1.6959594972032337],"线速度":[-0.27487642343910995,0.054073689558394034,0.00036339542830998717],"角速度":[-0.00013526195829783455,-0.004522007251671175,-1.77558879410276]},"刚体 5":{"位置":[-0.03132225469042243,0.21432748118084913,0.18570949728953612],"旋转角":[-1.2204383526467006,1.2077612736630332,-1.2120447314147647],"线速度":[0.0,-0.10929986054978857,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 6":{"位置":[-0.031327212808002325,0.18352072620834559,0.1860096238959064],"旋转角":[0.11909036988795153,-1.5663893488305425,0.1330116995416613],"线速度":[0.0,-0.10929991525827631,0.0],"角速度":[0.0,0.0,0.0]},"刚体 7":{"位置":[-0.012982018162507119,0.028877150117454575,0.18736313372504643],"旋转角":[-0.007280872932781939,-0.006487335815951375,-1.452694415818265],"线速度":[0.2612667401201389,-0.08032931241515051,3.636875131052264e-05],"角速度":[-0.0008699874014868533,-0.0017716569147863928,1.6889175306785547]},"刚体 8":{"位置":[-0.03133215359712595,0.21342040215409913,0.07171188221303099],"旋转角":[-1.2189374470589676,1.2100735255366677,-1.2144482342988818],"线速度":[0.0,-0.10795934430858356,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 9":{"位置":[-0.03132652537664809,0.18261813788940284,0.07196073394524642],"旋转角":[0.9462715798445381,1.3468585919232936,-0.9583463829260476],"线速度":[0.0,-0.10795943624124782,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 10":{"位置":[-0.012557393386464624,0.02802409315409819,0.07336759211211193],"旋转角":[2.0793070055970615,2.3470282690484847,-0.010383645566168585],"线速度":[0.26358860404653833,-0.07799826518685299,-0.00032317108512869286],"角速度":[-0.0009995091365629424,0.0007436210498454436,-1.7037396678444565]},"刚体 11":{"位置":[0.03132207143264278,0.2995525178391914,-0.04283418248294256],"旋转角":[-1.218922685016547,1.2100614402321872,-1.2144552345066852],"线速度":[0.0,0.03794886054904745,0.0],"角速度":[0.0,-0.0,0.0]},"刚体 12":{"位置":[0.03132765525135117,0.268750412537651,-0.042585356121734454],"旋转角":[0.812251443784701,1.4064615922634565,-0.8248535938886019],"线速度":[0.0,0.03794856434644611,0.0],"角速度":[-0.0,0.0,0.0]},"刚体 13":{"位置":[0.013335547900079294,0.11406562842993444,-0.04118295226756102],"旋转角":[2.3413376501587564,2.08475107553799,-0.009328877402412087],"线速度":[-0.2506798020500982,0.06530067683306884,0.0002354924307092221],"角速度":[0.009977551086442873,-0.002330021858646808,1.6195718973631965]}},"总模型":{"动能":0.047562823629328184,"势能":-0.5885355832543127,"线动量":[-0.0001464265093570269,-0.04235631561989867,6.519956497768085e-05],"角动量":[8.470769573596161e-07,-1.1332876515246027e-05,0.0010456930925574538]},"时间步":0.01}

31
src/viewer/UIMenu.cpp
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@ -141,8 +141,8 @@ namespace ipc::rigid {
m_player_state = static_cast<PlayerState>(player_state);
//TODO :fixme
static bool auto_start= false;
if ( auto_start|| ImGui::Button("逐步仿真##SimPlayer", ImVec2(-1, 0))) {
static bool auto_start = false;
if (auto_start || ImGui::Button("逐步仿真##SimPlayer", ImVec2(-1, 0))) {
// //TODO : fixme
// static std::string output_dir;
@ -214,8 +214,8 @@ namespace ipc::rigid {
int cur_loop = m_state.state_sequence.size();
std::string read_file_name = input_dir + "/" + std::to_string(cur_loop) + ".txt";
// TODO: fixme
spdlog::info("now to open file {0},curloop {1}",read_file_name,cur_loop);
// // TODO: fixme
// spdlog::info("now to open file {0},curloop {1}", read_file_name, cur_loop);
if (cur_loop > 0) {
nlohmann::json js_ref = m_state.txt2json(read_file_name);
std::vector<Eigen::VectorXd> v_vec_ref = GetVectorFromJSON(js_ref);
@ -229,7 +229,7 @@ namespace ipc::rigid {
// cal error
std::vector<double> v_error(v_vec_cpt.size(), 0);
for (int i = 0; i < v_error.size(); ++i) {
v_error[i] = (v_vec_cpt[i] - v_vec_ref[i]).norm() / (v_vec_ref[i].norm()+1e-15);
v_error[i] = (v_vec_cpt[i] - v_vec_ref[i]).norm() / (v_vec_ref[i].norm() + 1e-15);
}
for (int i = 0; i < v_para_name.size(); ++i) {
@ -259,8 +259,25 @@ namespace ipc::rigid {
}
if (ImGui::Button("导出仿真结果", ImVec2(-1, 0))) {
std::string fname = igl::file_dialog_save();
save(fname);
// std::string fname = igl::file_dialog_save();
// save(fname);
static std::string output_dir;
if (1) {
if (output_dir.empty()) {
output_dir = ssim::directory_dialog_save();
spdlog::info("output to: {}", output_dir);
}
for (int i = 0; i < m_state.state_sequence.size(); ++i) {
int cur_loop = i+1;
std::string write_file_name = output_dir + "/" + std::to_string(cur_loop) + ".txt";
auto cur_state = m_state.state_sequence[i];
auto disp_state = get_display_json(cur_state);
m_state.json2txt(write_file_name, disp_state);
spdlog::info("save to {0}", write_file_name);
}
}
}
if (ImGui::Button("导出 OBJ 文件", ImVec2(-1, 0))) {
std::string dir_name = ssim::directory_dialog_save();

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