controlparticles.cpp

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// --------------------------------------------------------------------------
//
// El'Beem - the visual lattice boltzmann freesurface simulator
// All code distributed as part of El'Beem is covered by the version 2 of the 
// GNU General Public License. See the file COPYING for details.  
//
// Copyright 2008 Nils Thuerey , Richard Keiser, Mark Pauly, Ulrich Ruede
//
// implementation of control particle handling
//
// --------------------------------------------------------------------------

// indicator for LBM inclusion
#include "ntl_geometrymodel.h"
#include "ntl_world.h"
#include "solver_class.h"
#include "controlparticles.h"
#include "mvmcoords.h"
#include <zlib.h>

#ifndef sqrtf
#define sqrtf sqrt
#endif

// brute force circle test init in initTimeArray
// replaced by mDebugInit
//#define CP_FORCECIRCLEINIT 0


void ControlParticles::initBlenderTest() {
        mPartSets.clear();

        ControlParticleSet cps;
        mPartSets.push_back(cps);
        int setCnt = mPartSets.size()-1;
        ControlParticle p; 

        // set for time zero
        mPartSets[setCnt].time = 0.;

        // add single particle 
        p.reset();
        p.pos = LbmVec(0.5, 0.5, -0.5);
        mPartSets[setCnt].particles.push_back(p);

        // add second set for animation
        mPartSets.push_back(cps);
        setCnt = mPartSets.size()-1;
        mPartSets[setCnt].time = 0.15;

        // insert new position
        p.reset();
        p.pos = LbmVec(-0.5, -0.5, 0.5);
        mPartSets[setCnt].particles.push_back(p);

        // applyTrafos();
        initTime(0. , 1.);
}

// blender control object gets converted to mvm flui control object
int ControlParticles::initFromObject(ntlGeometryObjModel *model) {
        vector<ntlTriangle> triangles;
        vector<ntlVec3Gfx> vertices;
        vector<ntlVec3Gfx> normals;
        
        /*
        model->loadBobjModel(string(infile));
        
        model->setLoaded(true);
        
        model->setGeoInitId(gid);
        
        
        printf("a animated? %d\n", model->getIsAnimated());
        printf("b animated? %d\n", model->getMeshAnimated());
        */
        
        model->setGeoInitType(FGI_FLUID);
        
        model->getTriangles(mCPSTimeStart, &triangles, &vertices, &normals, 1 ); 
        // model->applyTransformation(mCPSTimeStart, &vertices, &normals, 0, vertices.size(), true);
        
        // valid mesh?
        if(triangles.size() <= 0) {
                return 0;
        }

        ntlRenderGlobals *glob = new ntlRenderGlobals;
        ntlScene *genscene = new ntlScene( glob, false );
        genscene->addGeoClass(model);
        genscene->addGeoObject(model);
        genscene->buildScene(0., false);
        char treeFlag = (1<<(4+model->getGeoInitId()));

        ntlTree *tree = new ntlTree( 
        15, 8,  // TREEwarning - fixed values for depth & maxtriangles here...
        genscene, treeFlag );

        // TODO? use params
        ntlVec3Gfx start,end;
        model->getExtends(start,end);
        /*
        printf("start - x: %f, y: %f, z: %f\n", start[0], start[1], start[2]);
        printf("end   - x: %f, y: %f, z: %f\n", end[0], end[1], end[2]);
        printf("mCPSWidth: %f\n");
*/
        LbmFloat width = mCPSWidth;
        if(width<=LBM_EPSILON) { errMsg("ControlParticles::initFromMVMCMesh","Invalid mCPSWidth! "<<mCPSWidth); width=mCPSWidth=0.1; }
        ntlVec3Gfx org = start+ntlVec3Gfx(width*0.5);
        gfxReal distance = -1.;
        vector<ntlVec3Gfx> inspos;
        
        // printf("distance: %f, width: %f\n", distance, width);
        
        while(org[2]<end[2]) {
                while(org[1]<end[1]) {
                        while(org[0]<end[0]) {
                                if(checkPointInside(tree, org, distance)) {
                                        inspos.push_back(org);
                                }
                                // TODO optimize, use distance
                                org[0] += width;
                        }
                        org[1] += width;
                        org[0] = start[0];
                }
                org[2] += width;
                org[1] = start[1];
        }
        
        // printf("inspos.size(): %d\n", inspos.size());

        MeanValueMeshCoords mvm;
        mvm.calculateMVMCs(vertices,triangles, inspos, mCPSWeightFac);
        vector<ntlVec3Gfx> ninspos;
        mvm.transfer(vertices, ninspos);

        // init first set, check dist
        ControlParticleSet firstcps; //T
        mPartSets.push_back(firstcps);
        mPartSets[mPartSets.size()-1].time = mCPSTimeStart;
        vector<bool> useCP;

        for(int i=0; i<(int)inspos.size(); i++) {
                ControlParticle p; p.reset();
                p.pos = vec2L(inspos[i]);
                
                bool usecpv = true;

                mPartSets[mPartSets.size()-1].particles.push_back(p);
                useCP.push_back(usecpv);
        }

        // init further sets, temporal mesh sampling
        double tsampling = mCPSTimestep;
        // printf("tsampling: %f, ninspos.size(): %d, mCPSTimeEnd: %f\n", tsampling, ninspos.size(), mCPSTimeEnd);
        
        int tcnt=0;
        for(double t=mCPSTimeStart+tsampling; ((t<mCPSTimeEnd) && (ninspos.size()>0.)); t+=tsampling) {
                ControlParticleSet nextcps; //T
                mPartSets.push_back(nextcps);
                mPartSets[mPartSets.size()-1].time = (gfxReal)t;

                vertices.clear(); triangles.clear(); normals.clear();
                model->getTriangles(t, &triangles, &vertices, &normals, 1 );
                mvm.transfer(vertices, ninspos);
                
                tcnt++;
                for(size_t i=0; i < ninspos.size(); i++) {
                        
                        if(useCP[i]) {
                                ControlParticle p; p.reset();
                                p.pos = vec2L(ninspos[i]);
                                mPartSets[mPartSets.size()-1].particles.push_back(p);
                        }
                }
        }
        
        model->setGeoInitType(FGI_CONTROL);

        delete tree;
        delete genscene;
        delete glob;
        
        // do reverse here
        if(model->getGeoPartSlipValue())
        {
                mirrorTime();
        }
        
        return 1;
}


// init all zero / defaults for a single particle
void ControlParticle::reset() {
        pos = LbmVec(0.,0.,0.);
        vel = LbmVec(0.,0.,0.);
        influence = 1.;
        size = 1.;
#ifndef LBMDIM
#ifdef MAIN_2D
        rotaxis = LbmVec(0.,1.,0.); // SPH xz
#else // MAIN_2D
        // 3d - roate in xy plane, vortex
        rotaxis = LbmVec(0.,0.,1.);
        // 3d - rotate for wave
        //rotaxis = LbmVec(0.,1.,0.);
#endif // MAIN_2D
#else // LBMDIM
        rotaxis = LbmVec(0.,1.,0.); // LBM xy , is swapped afterwards
#endif // LBMDIM

        density = 0.;
        densityWeight = 0.;
        avgVelAcc = avgVel = LbmVec(0.);
        avgVelWeight = 0.;
}


// default preset/empty init
ControlParticles::ControlParticles() :
        _influenceTangential(0.f),
        _influenceAttraction(0.f),
        _influenceVelocity(0.f),
        _influenceMaxdist(0.f),
        _radiusAtt(1.0f),
        _radiusVel(1.0f),
        _radiusMinMaxd(2.0f),
        _radiusMaxd(3.0f),
        _currTime(-1.0), _currTimestep(1.),
        _initTimeScale(1.), 
        _initPartOffset(0.), _initPartScale(1.),
        _initLastPartOffset(0.), _initLastPartScale(1.),
        _initMirror(""),
        _fluidSpacing(1.), _kernelWeight(-1.),
        _charLength(1.), _charLengthInv(1.),
        mvCPSStart(-10000.), mvCPSEnd(10000.),
        mCPSWidth(0.1), mCPSTimestep(0.02), // was 0.05
        mCPSTimeStart(0.), mCPSTimeEnd(0.5), mCPSWeightFac(1.),
        mDebugInit(0)
{
        _radiusAtt = 0.15f;
        _radiusVel = 0.15f;
        _radiusMinMaxd = 0.16f;
        _radiusMaxd = 0.3;

        _influenceAttraction = 0.f;
        _influenceTangential = 0.f;
        _influenceVelocity = 0.f;
        // 3d tests */
}


 
ControlParticles::~ControlParticles() {
        // nothing to do...
}

LbmFloat ControlParticles::getControlTimStart() {
        if(mPartSets.size()>0) { return mPartSets[0].time; }
        return -1000.;
}
LbmFloat ControlParticles::getControlTimEnd() {
        if(mPartSets.size()>0) { return mPartSets[mPartSets.size()-1].time; }
        return -1000.;
}

// calculate for delta t
void ControlParticles::setInfluenceVelocity(LbmFloat set, LbmFloat dt) {
        const LbmFloat dtInter = 0.01;
        LbmFloat facFv = 1.-set; //cparts->getInfluenceVelocity();
        // mLevel[mMaxRefine].timestep
        LbmFloat facNv = (LbmFloat)( 1.-pow( (double)facFv, (double)(dt/dtInter)) );
        //errMsg("vwcalc","ts:"<<dt<< " its:"<<(dt/dtInter) <<" fv"<<facFv<<" nv"<<facNv<<" test:"<< pow( (double)(1.-facNv),(double)(dtInter/dt))      );
        _influenceVelocity = facNv;
}

int ControlParticles::initExampleSet()
{
        // unused
        return 0;
}

int ControlParticles::getTotalSize()
{
        int s=0;
        for(int i=0; i<(int)mPartSets.size(); i++) {
                s+= mPartSets[i].particles.size();
        }
        return s;
}

// --------------------------------------------------------------------------
// load positions & timing from text file
// WARNING - make sure file has unix format, no win/dos linefeeds...
#define LINE_LEN 100
int ControlParticles::initFromTextFile(string filename)
{
        /*
        const bool debugRead = false;
        char line[LINE_LEN];
        line[LINE_LEN-1] = '\0';
        mPartSets.clear();
        if(filename.size()<2) return 0;

        // HACK , use "cparts" suffix as old
        // e.g. "cpart2" as new
        if(filename[ filename.size()-1 ]=='s') {
                return initFromTextFileOld(filename);
        }

        FILE *infile = fopen(filename.c_str(), "r");
        if(!infile) {
                errMsg("ControlParticles::initFromTextFile","unable to open '"<<filename<<"' " );
                // try to open as gz sequence
                if(initFromBinaryFile(filename)) { return 1; }
                // try mesh MVCM generation
                if(initFromMVCMesh(filename)) { return 1; }
                // failed...
                return 0;
        }

        int haveNo = false;
        int haveScale = false;
        int haveTime = false;
        int noParts = -1;
        int partCnt = 0;
        int setCnt = 0;
        //ControlParticle p; p.reset();
        // scale times by constant factor while reading
        LbmFloat timeScale= 1.0;
        int lineCnt = 0;
        bool abortParse = false;
#define LASTCP mPartSets[setCnt].particles[ mPartSets[setCnt].particles.size()-1 ]

        while( (!feof(infile)) && (!abortParse)) {
                lineCnt++;
                fgets(line, LINE_LEN, infile);

                //if(debugRead) printf("\nDEBUG%d r '%s'\n",lineCnt, line);
                if(!line) continue;
                size_t len = strlen(line);

                // skip empty lines and comments (#,//)
                if(len<1) continue;
                if( (line[0]=='#') || (line[0]=='\n') ) continue;
                if((len>1) && (line[0]=='/' && line[1]=='/')) continue;

                // debug remove newline
                if((len>=1)&&(line[len-1]=='\n')) line[len-1]='\0';

                switch(line[0]) {

                case 'N': { // total number of particles, more for debugging...
                        noParts = atoi(line+2);
                        if(noParts<=0) {
                                errMsg("ControlParticles::initFromTextFile","file '"<<filename<<"' - invalid no of particles "<<noParts);
                                mPartSets.clear(); fclose(infile); return 0;
                        }
                        if(debugRead) printf("CPDEBUG%d no parts '%d'\n",lineCnt, noParts );
                        haveNo = true;
                        } break;

                case 'T': { // global time scale
                        timeScale *= (LbmFloat)atof(line+2);
                        if(debugRead) printf("ControlParticles::initFromTextFile - line %d , set timescale '%f', org %f\n",lineCnt, timeScale , _initTimeScale);
                        if(timeScale==0.) { fprintf(stdout,"ControlParticles::initFromTextFile - line %d ,error: timescale = 0.! reseting to 1 ...\n",lineCnt); timeScale=1.; }
                        haveScale = true;
                        } break;

                case 'I': { // influence settings, overrides others as of now...
                        float val = (LbmFloat)atof(line+3);
                        const char *setvar = "[invalid]";
                        switch(line[1]) {
                                //case 'f': { _influenceFalloff = val; setvar = "falloff"; } break;
                                case 't': { _influenceTangential = val; setvar = "tangential"; } break;
                                case 'a': { _influenceAttraction = val; setvar = "attraction"; } break;
                                case 'v': { _influenceVelocity = val; setvar = "velocity"; } break;
                                case 'm': { _influenceMaxdist = val; setvar = "maxdist"; } break;
                                default: 
                                        fprintf(stdout,"ControlParticles::initFromTextFile (%s) - line %d , invalid influence setting %c, %f\n",filename.c_str() ,lineCnt, line[1], val);
                        }
                        if(debugRead) printf("CPDEBUG%d set influence '%s'=%f \n",lineCnt, setvar, val);
                        } break;

                case 'R': { // radius settings, overrides others as of now...
                        float val = (LbmFloat)atof(line+3);
                        const char *setvar = "[invalid]";
                        switch(line[1]) {
                                case 'a': { _radiusAtt = val; setvar = "r_attraction"; } break;
                                case 'v': { _radiusVel = val; setvar = "r_velocity"; } break;
                                case 'm': { _radiusMaxd = val; setvar = "r_maxdist"; } break;
                                default: 
                                        fprintf(stdout,"ControlParticles::initFromTextFile (%s) - line %d , invalid influence setting %c, %f\n",filename.c_str() ,lineCnt, line[1], val);
                        }
                        if(debugRead) printf("CPDEBUG%d set influence '%s'=%f \n",lineCnt, setvar, val);
                        } break;

                case 'S': { // new particle set at time T
                        ControlParticleSet cps;
                        mPartSets.push_back(cps);
                        setCnt = (int)mPartSets.size()-1;

                        LbmFloat val = (LbmFloat)atof(line+2);
                        mPartSets[setCnt].time = val * timeScale;
                        if(debugRead) printf("CPDEBUG%d new set, time '%f', %d\n",lineCnt, mPartSets[setCnt].time, setCnt );
                        haveTime = true;
                        partCnt = -1;
                        } break;

                case 'P':   // new particle with pos
                case 'n': { // new particle without pos
                                if((!haveTime)||(setCnt<0)) { fprintf(stdout,"ControlParticles::initFromTextFile - line %d ,error: set missing!\n",lineCnt); abortParse=true; break; }
                                partCnt++;
                                if(partCnt>=noParts) {
                                        if(debugRead) printf("CPDEBUG%d partset done \n",lineCnt);
                                        haveTime = false;
                                } else {
                                        ControlParticle p; p.reset();
                                        mPartSets[setCnt].particles.push_back(p);
                                }
                        } 
                        // only new part, or new with pos?
                        if(line[0] == 'n') break;

                // particle properties

                case 'p': { // new particle set at time T
                        if((!haveTime)||(setCnt<0)||(mPartSets[setCnt].particles.size()<1)) { fprintf(stdout,"ControlParticles::initFromTextFile - line %d ,error|p: particle missing!\n",lineCnt); abortParse=true; break; }
                        float px=0.,py=0.,pz=0.;
                        if( sscanf(line+2,"%f %f %f",&px,&py,&pz) != 3) {
                                fprintf(stdout,"CPDEBUG%d, unable to parse position!\n",lineCnt); abortParse=true; break; 
                        }
                        if(!(finite(px)&&finite(py)&&finite(pz))) { px=py=pz=0.; }
                        LASTCP.pos[0] = px;
                        LASTCP.pos[1] = py;
                        LASTCP.pos[2] = pz; 
                        if(debugRead) printf("CPDEBUG%d part%d,%d: position %f,%f,%f \n",lineCnt,setCnt,partCnt, px,py,pz);
                        } break;

                case 's': { // particle size
                        if((!haveTime)||(setCnt<0)||(mPartSets[setCnt].particles.size()<1)) { fprintf(stdout,"ControlParticles::initFromTextFile - line %d ,error|s: particle missing!\n",lineCnt); abortParse=true; break; }
                        float ps=1.;
                        if( sscanf(line+2,"%f",&ps) != 1) {
                                fprintf(stdout,"CPDEBUG%d, unable to parse size!\n",lineCnt); abortParse=true; break; 
                        }
                        if(!(finite(ps))) { ps=0.; }
                        LASTCP.size = ps;
                        if(debugRead) printf("CPDEBUG%d part%d,%d: size %f \n",lineCnt,setCnt,partCnt, ps);
                        } break;

                case 'i': { // particle influence
                        if((!haveTime)||(setCnt<0)||(mPartSets[setCnt].particles.size()<1)) { fprintf(stdout,"ControlParticles::initFromTextFile - line %d ,error|i: particle missing!\n",lineCnt); abortParse=true; break; }
                        float pinf=1.;
                        if( sscanf(line+2,"%f",&pinf) != 1) {
                                fprintf(stdout,"CPDEBUG%d, unable to parse size!\n",lineCnt); abortParse=true; break; 
                        }
                        if(!(finite(pinf))) { pinf=0.; }
                        LASTCP.influence = pinf;
                        if(debugRead) printf("CPDEBUG%d part%d,%d: influence %f \n",lineCnt,setCnt,partCnt, pinf);
                        } break;

                case 'a': { // rotation axis
                        if((!haveTime)||(setCnt<0)||(mPartSets[setCnt].particles.size()<1)) { fprintf(stdout,"ControlParticles::initFromTextFile - line %d ,error|a: particle missing!\n",lineCnt); abortParse=true; break; }
                        float px=0.,py=0.,pz=0.;
                        if( sscanf(line+2,"%f %f %f",&px,&py,&pz) != 3) {
                                fprintf(stdout,"CPDEBUG%d, unable to parse rotaxis!\n",lineCnt); abortParse=true; break; 
                        }
                        if(!(finite(px)&&finite(py)&&finite(pz))) { px=py=pz=0.; }
                        LASTCP.rotaxis[0] = px;
                        LASTCP.rotaxis[1] = py;
                        LASTCP.rotaxis[2] = pz; 
                        if(debugRead) printf("CPDEBUG%d part%d,%d: rotaxis %f,%f,%f \n",lineCnt,setCnt,partCnt, px,py,pz);
                        } break;


                default:
                        if(debugRead) printf("CPDEBUG%d ignored: '%s'\n",lineCnt, line );
                        break;
                }
        }
        if(debugRead && abortParse) printf("CPDEBUG aborted parsing after set... %d\n",(int)mPartSets.size() );

        // sanity check
        for(int i=0; i<(int)mPartSets.size(); i++) {
                if( (int)mPartSets[i].particles.size()!=noParts) {
                        fprintf(stdout,"ControlParticles::initFromTextFile (%s) - invalid no of particles in set %d, is:%d, shouldbe:%d \n",filename.c_str() ,i,(int)mPartSets[i].particles.size(), noParts);
                        mPartSets.clear();
                        fclose(infile);
                        return 0;
                }
        }

        // print stats
        printf("ControlParticles::initFromTextFile (%s): Read %d sets, each %d particles\n",filename.c_str() ,
                        (int)mPartSets.size(), noParts );
        if(mPartSets.size()>0) {
                printf("ControlParticles::initFromTextFile (%s): Time: %f,%f\n",filename.c_str() ,mPartSets[0].time, mPartSets[mPartSets.size()-1].time );
        }
        
        // done...
        fclose(infile);
        applyTrafos();
        */
        return 1;
}


int ControlParticles::initFromTextFileOld(string filename)
{
        /*
        const bool debugRead = false;
        char line[LINE_LEN];
        line[LINE_LEN-1] = '\0';
        mPartSets.clear();
        if(filename.size()<1) return 0;

        FILE *infile = fopen(filename.c_str(), "r");
        if(!infile) {
                fprintf(stdout,"ControlParticles::initFromTextFileOld - unable to open '%s'\n",filename.c_str() );
                return 0;
        }

        int haveNo = false;
        int haveScale = false;
        int haveTime = false;
        int noParts = -1;
        int coordCnt = 0;
        int partCnt = 0;
        int setCnt = 0;
        ControlParticle p; p.reset();
        // scale times by constant factor while reading
        LbmFloat timeScale= 1.0;
        int lineCnt = 0;

        while(!feof(infile)) {
                lineCnt++;
                fgets(line, LINE_LEN, infile);

                if(debugRead) printf("\nDEBUG%d r '%s'\n",lineCnt, line);

                if(!line) continue;
                size_t len = strlen(line);

                // skip empty lines and comments (#,//)
                if(len<1) continue;
                if( (line[0]=='#') || (line[0]=='\n') ) continue;
                if((len>1) && (line[0]=='/' && line[1]=='/')) continue;

                // debug remove newline
                if((len>=1)&&(line[len-1]=='\n')) line[len-1]='\0';

                // first read no. of particles
                if(!haveNo) {
                        noParts = atoi(line);
                        if(noParts<=0) {
                                fprintf(stdout,"ControlParticles::initFromTextFileOld - invalid no of particles %d\n",noParts);
                                mPartSets.clear();
                                fclose(infile);
                                return 0;
                        }
                        if(debugRead) printf("DEBUG%d noparts '%d'\n",lineCnt, noParts );
                        haveNo = true;
                } 

                // then read time scale
                else if(!haveScale) {
                        timeScale *= (LbmFloat)atof(line);
                        if(debugRead) printf("DEBUG%d tsc '%f', org %f\n",lineCnt, timeScale , _initTimeScale);
                        haveScale = true;
                } 

                // then get set time
                else if(!haveTime) {
                        ControlParticleSet cps;
                        mPartSets.push_back(cps);
                        setCnt = (int)mPartSets.size()-1;

                        LbmFloat val = (LbmFloat)atof(line);
                        mPartSets[setCnt].time = val * timeScale;
                        if(debugRead) printf("DEBUG%d time '%f', %d\n",lineCnt, mPartSets[setCnt].time, setCnt );
                        haveTime = true;
                }

                // default read all parts
                else {
                        LbmFloat val = (LbmFloat)atof(line);
                        if(debugRead) printf("DEBUG: l%d s%d,particle%d '%f' %d,%d/%d\n",lineCnt,(int)mPartSets.size(),(int)mPartSets[setCnt].particles.size(), val ,coordCnt,partCnt,noParts);
                        p.pos[coordCnt] = val;
                        coordCnt++;
                        if(coordCnt>=3) {
                                mPartSets[setCnt].particles.push_back(p);
                                p.reset();
                                coordCnt=0;
                                partCnt++;
                        }
                        if(partCnt>=noParts) {
                                partCnt = 0;
                                haveTime = false;
                        }
                        //if(debugRead) printf("DEBUG%d par2 %d,%d/%d\n",lineCnt, coordCnt,partCnt,noParts);
                }
                //read pos, vel ...
        }

        // sanity check
        for(int i=0; i<(int)mPartSets.size(); i++) {
                if( (int)mPartSets[i].particles.size()!=noParts) {
                        fprintf(stdout,"ControlParticles::initFromTextFileOld - invalid no of particles in set %d, is:%d, shouldbe:%d \n",i,(int)mPartSets[i].particles.size(), noParts);
                        mPartSets.clear();
                        fclose(infile);
                        return 0;
                }
        }
        // print stats
        printf("ControlParticles::initFromTextFileOld: Read %d sets, each %d particles\n",
                        (int)mPartSets.size(), noParts );
        if(mPartSets.size()>0) {
                printf("ControlParticles::initFromTextFileOld: Time: %f,%f\n",mPartSets[0].time, mPartSets[mPartSets.size()-1].time );
        }
        
        // done...
        fclose(infile);
        applyTrafos();
        */
        return 1;
}

// load positions & timing from gzipped binary file
int ControlParticles::initFromBinaryFile(string filename) {
        mPartSets.clear();
        if(filename.size()<1) return 0;
        int fileNotFound=0;
        int fileFound=0;
        char ofile[256];

        for(int set=0; ((set<10000)&&(fileNotFound<10)); set++) {
                snprintf(ofile,256,"%s%04d.gz",filename.c_str(),set);
                //errMsg("ControlParticle::initFromBinaryFile","set"<<set<<" notf"<<fileNotFound<<" ff"<<fileFound);

                gzFile gzf;
                gzf = gzopen(ofile, "rb");
                if (!gzf) {
                        //errMsg("ControlParticles::initFromBinaryFile","Unable to open file for reading '"<<ofile<<"' "); 
                        fileNotFound++;
                        continue;
                }
                fileNotFound=0;
                fileFound++;

                ControlParticleSet cps;
                mPartSets.push_back(cps);
                int setCnt = (int)mPartSets.size()-1;
                //LbmFloat val = (LbmFloat)atof(line+2);
                mPartSets[setCnt].time = (gfxReal)set;

                int totpart = 0;
                gzread(gzf, &totpart, sizeof(totpart));

                for(int a=0; a<totpart; a++) {
                        int ptype=0;
                        float psize=0.0;
                        ntlVec3Gfx ppos,pvel;
                        gzread(gzf, &ptype, sizeof( ptype )); 
                        gzread(gzf, &psize, sizeof( float )); 

                        for(int j=0; j<3; j++) { gzread(gzf, &ppos[j], sizeof( float )); }
                        for(int j=0; j<3; j++) { gzread(gzf, &pvel[j], sizeof( float )); }

                        ControlParticle p; 
                        p.reset();
                        p.pos = vec2L(ppos);
                        mPartSets[setCnt].particles.push_back(p);
                } 

                gzclose(gzf);
                //errMsg("ControlParticle::initFromBinaryFile","Read set "<<ofile<<", #"<<mPartSets[setCnt].particles.size() ); // DEBUG
        } // sets

        if(fileFound==0) return 0;
        applyTrafos();
        return 1;
}

int globCPIProblems =0;
bool ControlParticles::checkPointInside(ntlTree *tree, ntlVec3Gfx org, gfxReal &distance) {
        // warning - stripped down version of geoInitCheckPointInside
        const int globGeoInitDebug = 0;
        const int  flags = FGI_FLUID;
        org += ntlVec3Gfx(0.0001);
        ntlVec3Gfx dir = ntlVec3Gfx(1.0, 0.0, 0.0);
        int OId = -1;
        ntlRay ray(org, dir, 0, 1.0, NULL);
        bool done = false;
        bool inside = false;
        int mGiObjInside = 0; 
        LbmFloat mGiObjDistance = -1.0; 
        LbmFloat giObjFirstHistSide = 0; 
        
        // if not inside, return distance to first hit
        gfxReal firstHit=-1.0;
        int     firstOId = -1;
        if(globGeoInitDebug) errMsg("IIIstart"," isect "<<org);

        while(!done) {
                // find first inside intersection
                ntlTriangle *triIns = NULL;
                distance = -1.0;
                ntlVec3Gfx normal(0.0);
                tree->intersectX(ray,distance,normal, triIns, flags, true);
                if(triIns) {
                        ntlVec3Gfx norg = ray.getOrigin() + ray.getDirection()*distance;
                        LbmFloat orientation = dot(normal, dir);
                        OId = triIns->getObjectId();
                        if(orientation<=0.0) {
                                // outside hit
                                normal *= -1.0;
                                mGiObjInside++;
                                if(giObjFirstHistSide==0) giObjFirstHistSide = 1;
                                if(globGeoInitDebug) errMsg("IIO"," oid:"<<OId<<" org"<<org<<" norg"<<norg<<" orient:"<<orientation);
                        } else {
                                // inside hit
                                mGiObjInside++;
                                if(mGiObjDistance<0.0) mGiObjDistance = distance;
                                if(globGeoInitDebug) errMsg("III"," oid:"<<OId<<" org"<<org<<" norg"<<norg<<" orient:"<<orientation);
                                if(giObjFirstHistSide==0) giObjFirstHistSide = -1;
                        }
                        norg += normal * getVecEpsilon();
                        ray = ntlRay(norg, dir, 0, 1.0, NULL);
                        // remember first hit distance, in case we're not 
                        // inside anything
                        if(firstHit<0.0) {
                                firstHit = distance;
                                firstOId = OId;
                        }
                } else {
                        // no more intersections... return false
                        done = true;
                }
        }

        distance = -1.0;
        if(mGiObjInside>0) {
                bool mess = false;
                if((mGiObjInside%2)==1) {
                        if(giObjFirstHistSide != -1) mess=true;
                } else {
                        if(giObjFirstHistSide !=  1) mess=true;
                }
                if(mess) {
                        // ?
                        //errMsg("IIIproblem","At "<<org<<" obj  inside:"<<mGiObjInside<<" firstside:"<<giObjFirstHistSide );
                        globCPIProblems++;
                        mGiObjInside++; // believe first hit side...
                }
        }

        if(globGeoInitDebug) errMsg("CHIII"," ins="<<mGiObjInside<<" t"<<mGiObjDistance<<" d"<<distance);
        if(((mGiObjInside%2)==1)&&(mGiObjDistance>0.0)) {
                if(  (distance<0.0)                             || // first intersection -> good
                                ((distance>0.0)&&(distance>mGiObjDistance)) // more than one intersection -> use closest one
                        ) {                                             
                        distance = mGiObjDistance;
                        OId = 0;
                        inside = true;
                } 
        }

        if(!inside) {
                distance = firstHit;
                OId = firstOId;
        }
        if(globGeoInitDebug) errMsg("CHIII","ins"<<inside<<"  fh"<<firstHit<<" fo"<<firstOId<<" - h"<<distance<<" o"<<OId);

        return inside;
}
int ControlParticles::initFromMVCMesh(string filename) {
        myTime_t mvmstart = getTime(); 
        ntlGeometryObjModel *model = new ntlGeometryObjModel();
        int gid=1;
        char infile[256];
        vector<ntlTriangle> triangles;
        vector<ntlVec3Gfx> vertices;
        vector<ntlVec3Gfx> normals;
        snprintf(infile,256,"%s.bobj.gz", filename.c_str() );
        model->loadBobjModel(string(infile));
        model->setLoaded(true);
        model->setGeoInitId(gid);
        model->setGeoInitType(FGI_FLUID);
        debMsgStd("ControlParticles::initFromMVMCMesh",DM_MSG,"infile:"<<string(infile) ,4);

        //getTriangles(double t,  vector<ntlTriangle> *triangles, vector<ntlVec3Gfx> *vertices, vector<ntlVec3Gfx> *normals, int objectId );
        model->getTriangles(mCPSTimeStart, &triangles, &vertices, &normals, 1 ); 
        debMsgStd("ControlParticles::initFromMVMCMesh",DM_MSG," tris:"<<triangles.size()<<" verts:"<<vertices.size()<<" norms:"<<normals.size() , 2);
        
        // valid mesh?
        if(triangles.size() <= 0) {
                return 0;
        }

        ntlRenderGlobals *glob = new ntlRenderGlobals;
        ntlScene *genscene = new ntlScene( glob, false );
        genscene->addGeoClass(model);
        genscene->addGeoObject(model);
        genscene->buildScene(0., false);
        char treeFlag = (1<<(4+gid));

        ntlTree *tree = new ntlTree( 
                        15, 8,  // TREEwarning - fixed values for depth & maxtriangles here...
                        genscene, treeFlag );

        // TODO? use params
        ntlVec3Gfx start,end;
        model->getExtends(start,end);

        LbmFloat width = mCPSWidth;
        if(width<=LBM_EPSILON) { errMsg("ControlParticles::initFromMVMCMesh","Invalid mCPSWidth! "<<mCPSWidth); width=mCPSWidth=0.1; }
        ntlVec3Gfx org = start+ntlVec3Gfx(width*0.5);
        gfxReal distance = -1.;
        vector<ntlVec3Gfx> inspos;
        int approxmax = (int)( ((end[0]-start[0])/width)*((end[1]-start[1])/width)*((end[2]-start[2])/width) );

        debMsgStd("ControlParticles::initFromMVMCMesh",DM_MSG,"start"<<start<<" end"<<end<<" w="<<width<<" maxp:"<<approxmax, 5);
        while(org[2]<end[2]) {
                while(org[1]<end[1]) {
                        while(org[0]<end[0]) {
                                if(checkPointInside(tree, org, distance)) {
                                        inspos.push_back(org);
                                        //inspos.push_back(org+ntlVec3Gfx(width));
                                        //inspos.push_back(start+end*0.5);
                                }
                                // TODO optimize, use distance
                                org[0] += width;
                        }
                        org[1] += width;
                        org[0] = start[0];
                }
                org[2] += width;
                org[1] = start[1];
        }
        debMsgStd("ControlParticles::initFromMVMCMesh",DM_MSG,"points: "<<inspos.size()<<" initproblems: "<<globCPIProblems,5 );

        MeanValueMeshCoords mvm;
        mvm.calculateMVMCs(vertices,triangles, inspos, mCPSWeightFac);
        vector<ntlVec3Gfx> ninspos;
        mvm.transfer(vertices, ninspos);

        // init first set, check dist
        ControlParticleSet firstcps; //T
        mPartSets.push_back(firstcps);
        mPartSets[mPartSets.size()-1].time = (gfxReal)0.;
        vector<bool> useCP;
        bool debugPos=false;

        for(int i=0; i<(int)inspos.size(); i++) {
                ControlParticle p; p.reset();
                p.pos = vec2L(inspos[i]);
                //errMsg("COMP "," "<<inspos[i]<<" vs "<<ninspos[i] );
                double cpdist = norm(inspos[i]-ninspos[i]);
                bool usecpv = true;
                if(debugPos) errMsg("COMP "," "<<cpdist<<usecpv);

                mPartSets[mPartSets.size()-1].particles.push_back(p);
                useCP.push_back(usecpv);
        }

        // init further sets, temporal mesh sampling
        double tsampling = mCPSTimestep;
        int totcnt = (int)( (mCPSTimeEnd-mCPSTimeStart)/tsampling ), tcnt=0;
        for(double t=mCPSTimeStart+tsampling; ((t<mCPSTimeEnd) && (ninspos.size()>0.)); t+=tsampling) {
                ControlParticleSet nextcps; //T
                mPartSets.push_back(nextcps);
                mPartSets[mPartSets.size()-1].time = (gfxReal)t;

                vertices.clear(); triangles.clear(); normals.clear();
                model->getTriangles(t, &triangles, &vertices, &normals, 1 );
                mvm.transfer(vertices, ninspos);
                if(tcnt%(totcnt/10)==1) debMsgStd("MeanValueMeshCoords::calculateMVMCs",DM_MSG,"Transferring animation, frame: "<<tcnt<<"/"<<totcnt,5 );
                tcnt++;
                for(int i=0; i<(int)ninspos.size(); i++) {
                        if(debugPos) errMsg("COMP "," "<<norm(inspos[i]-ninspos[i]) );
                        if(useCP[i]) {
                                ControlParticle p; p.reset();
                                p.pos = vec2L(ninspos[i]);
                                mPartSets[mPartSets.size()-1].particles.push_back(p);
                        }
                }
        }

        applyTrafos();

        myTime_t mvmend = getTime(); 
        debMsgStd("ControlParticle::initFromMVMCMesh",DM_MSG,"t:"<<getTimeString(mvmend-mvmstart)<<" ",7 );
        delete tree;
        delete genscene;
        delete glob;
//exit(1); // DEBUG
        return 1;
}

#define TRISWAP(v,a,b) { LbmFloat tmp = (v)[b]; (v)[b]=(v)[a]; (v)[a]=tmp; }
#define TRISWAPALL(v,a,b) {  \
                        TRISWAP( (v).pos     ,a,b ); \
                        TRISWAP( (v).vel     ,a,b ); \
                        TRISWAP( (v).rotaxis ,a,b ); }

// helper function for LBM 2D -> swap Y and Z components everywhere
void ControlParticles::swapCoords(int a, int b) {
        //return;
        for(int i=0; i<(int)mPartSets.size(); i++) {
                for(int j=0; j<(int)mPartSets[i].particles.size(); j++) {
                        TRISWAPALL( mPartSets[i].particles[j],a,b );
                }
        }
}

// helper function for LBM 2D -> mirror time
void ControlParticles::mirrorTime() {
        LbmFloat maxtime = mPartSets[mPartSets.size()-1].time;
        const bool debugTimeswap = false;
        
        for(int i=0; i<(int)mPartSets.size(); i++) {
                mPartSets[i].time = maxtime - mPartSets[i].time;
        }

        for(int i=0; i<(int)mPartSets.size()/2; i++) {
                ControlParticleSet cps = mPartSets[i];
                if(debugTimeswap) errMsg("TIMESWAP", " s"<<i<<","<<mPartSets[i].time<<"  and s"<<(mPartSets.size()-1-i)<<","<< mPartSets[mPartSets.size()-1-i].time <<"  mt:"<<maxtime );
                mPartSets[i] = mPartSets[mPartSets.size()-1-i];
                mPartSets[mPartSets.size()-1-i] = cps;
        }

        for(int i=0; i<(int)mPartSets.size(); i++) {
                if(debugTimeswap) errMsg("TIMESWAP", "done: s"<<i<<","<<mPartSets[i].time<<"  "<<mPartSets[i].particles.size() );
        }
}

// apply init transformations
void ControlParticles::applyTrafos() {
        // apply trafos
        for(int i=0; i<(int)mPartSets.size(); i++) {
                mPartSets[i].time *= _initTimeScale;
                /*for(int j=0; j<(int)mPartSets[i].particles.size(); j++) {
                        for(int k=0; k<3; k++) {
                                mPartSets[i].particles[j].pos[k] *= _initPartScale[k];
                                mPartSets[i].particles[j].pos[k] += _initPartOffset[k];
                        }
                } now done in initarray */
        }

        // mirror coords...
        for(int l=0; l<(int)_initMirror.length(); l++) {
                switch(_initMirror[l]) {
                case 'X':
                case 'x':
                        //printf("ControlParticles::applyTrafos - mirror x\n");
                        swapCoords(1,2);
                        break;
                case 'Y':
                case 'y':
                        //printf("ControlParticles::applyTrafos - mirror y\n");
                        swapCoords(0,2);
                        break;
                case 'Z':
                case 'z':
                        //printf("ControlParticles::applyTrafos - mirror z\n");
                        swapCoords(0,1);
                        break;
                case 'T':
                case 't':
                        //printf("ControlParticles::applyTrafos - mirror time\n");
                        mirrorTime();
                        break;
                case ' ':
                case '-':
                case '\n':
                        break;
                default:
                        //printf("ControlParticles::applyTrafos - mirror unknown %c !?\n", _initMirror[l] );
                        break;
                }
        }

        // reset 2d positions
#if (CP_PROJECT2D==1) && ( defined(MAIN_2D) || LBMDIM==2 )
        for(size_t j=0; j<mPartSets.size(); j++) 
                for(size_t i=0; i<mPartSets[j].particles.size(); i++) {
                        // DEBUG 
                        mPartSets[j].particles[i].pos[1] = 0.f;
                }
#endif

#if defined(LBMDIM) 
        //? if( (getenv("ELBEEM_CPINFILE")) || (getenv("ELBEEM_CPOUTFILE")) ){ 
                // gui control test, don swap...
        //? } else {
                //? swapCoords(1,2); // LBM 2D -> swap Y and Z components everywhere
        //? }
#endif

        initTime(0.f, 0.f);
}

#undef TRISWAP

// --------------------------------------------------------------------------
// init for a given time
void ControlParticles::initTime(LbmFloat t, LbmFloat dt) 
{
        //fprintf(stdout, "CPINITTIME init %f\n",t);
        _currTime = t;
        if(mPartSets.size()<1) return;

        // init zero velocities
        initTimeArray(t, _particles);

        // calculate velocities from prev. timestep?
        if(dt>0.) {
                _currTimestep = dt;
                std::vector<ControlParticle> prevparts;
                initTimeArray(t-dt, prevparts);
                LbmFloat invdt = 1.0/dt;
                for(size_t j=0; j<_particles.size(); j++) {
                        ControlParticle &p = _particles[j];
                        ControlParticle &prevp = prevparts[j];
                        for(int k=0; k<3; k++) {
                                p.pos[k] *= _initPartScale[k];
                                p.pos[k] += _initPartOffset[k];
                                prevp.pos[k] *= _initLastPartScale[k];
                                prevp.pos[k] += _initLastPartOffset[k];
                        }
                        p.vel = (p.pos - prevp.pos)*invdt;
                }

                if(0) {
                        LbmVec avgvel(0.);
                        for(size_t j=0; j<_particles.size(); j++) {
                                avgvel += _particles[j].vel;
                        }
                        avgvel /= (LbmFloat)_particles.size();
                        //fprintf(stdout," AVGVEL %f,%f,%f \n",avgvel[0],avgvel[1],avgvel[2]); // DEBUG
                }
        }
}

// helper, init given array
void ControlParticles::initTimeArray(LbmFloat t, std::vector<ControlParticle> &parts) {
        if(mPartSets.size()<1) return;

        if(parts.size()!=mPartSets[0].particles.size()) {
                //fprintf(stdout,"PRES \n");
                parts.resize(mPartSets[0].particles.size());
                // TODO reset all?
                for(size_t j=0; j<parts.size(); j++) {
                        parts[j].reset();
                }
        }
        if(parts.size()<1) return;

        // debug inits
        if(mDebugInit==1) {
                // hard coded circle init
                for(size_t j=0; j<mPartSets[0].particles.size(); j++) {
                        ControlParticle p = mPartSets[0].particles[j];
                        // remember old
                        p.density = parts[j].density;
                        p.densityWeight = parts[j].densityWeight;
                        p.avgVel = parts[j].avgVel;
                        p.avgVelAcc = parts[j].avgVelAcc;
                        p.avgVelWeight = parts[j].avgVelWeight;
                        LbmVec ppos(0.); { // DEBUG
                        const float tscale=10.;
                        const float tprevo = 0.33;
                        const LbmVec toff(50,50,0);
                        const LbmVec oscale(30,30,0);
                        ppos[0] =  cos(tscale* t - tprevo*(float)j + M_PI -0.1) * oscale[0] + toff[0];
                        ppos[1] = -sin(tscale* t - tprevo*(float)j + M_PI -0.1) * oscale[1] + toff[1];
                        ppos[2] =                               toff[2]; } // DEBUG
                        p.pos = ppos;
                        parts[j] = p;
                        //errMsg("ControlParticle::initTimeArray","j:"<<j<<" p:"<<parts[j].pos );
                }
                return;
        }
        else if(mDebugInit==2) {
                // hard coded spiral init
                const float tscale=-10.;
                const float tprevo = 0.33;
                LbmVec   toff(50,0,-50);
                const LbmVec oscale(20,20,0);
                toff[2] += 30. * t +30.;
                for(size_t j=0; j<mPartSets[0].particles.size(); j++) {
                        ControlParticle p = mPartSets[0].particles[j];
                        // remember old
                        p.density = parts[j].density;
                        p.densityWeight = parts[j].densityWeight;
                        p.avgVel = parts[j].avgVel;
                        p.avgVelAcc = parts[j].avgVelAcc;
                        p.avgVelWeight = parts[j].avgVelWeight;
                        LbmVec ppos(0.); 
                        ppos[1] =                               toff[2]; 
                        LbmFloat zscal = (ppos[1]+100.)/200.;
                        ppos[0] =  cos(tscale* t - tprevo*(float)j + M_PI -0.1) * oscale[0]*zscal + toff[0];
                        ppos[2] = -sin(tscale* t - tprevo*(float)j + M_PI -0.1) * oscale[1]*zscal + toff[1];
                        p.pos = ppos;
                        parts[j] = p;

                        toff[2] += 0.25;
                }
                return;
        }

        // use first set
        if((t<=mPartSets[0].time)||(mPartSets.size()==1)) {
                //fprintf(stdout,"PINI %f \n", t);
                //parts = mPartSets[0].particles;
                const int i=0;
                for(size_t j=0; j<mPartSets[i].particles.size(); j++) {
                        ControlParticle p = mPartSets[i].particles[j];
                        // remember old
                        p.density = parts[j].density;
                        p.densityWeight = parts[j].densityWeight;
                        p.avgVel = parts[j].avgVel;
                        p.avgVelAcc = parts[j].avgVelAcc;
                        p.avgVelWeight = parts[j].avgVelWeight;
                        parts[j] = p;
                }
                return;
        }

        for(int i=0; i<(int)mPartSets.size()-1; i++) {
                if((mPartSets[i].time<=t) && (mPartSets[i+1].time>t)) {
                        LbmFloat d = mPartSets[i+1].time-mPartSets[i].time;
                        LbmFloat f = (t-mPartSets[i].time)/d;
                        LbmFloat omf = 1.0f - f;
        
                        for(size_t j=0; j<mPartSets[i].particles.size(); j++) {
                                ControlParticle *src1=&mPartSets[i  ].particles[j];
                                ControlParticle *src2=&mPartSets[i+1].particles[j];
                                ControlParticle &p = parts[j];
                                // do linear interpolation
                                p.pos     = src1->pos * omf     + src2->pos *f;
                                p.vel     = LbmVec(0.); // reset, calculated later on src1->vel * omf     + src2->vel *f;
                                p.rotaxis = src1->rotaxis * omf + src2->rotaxis *f;
                                p.influence = src1->influence * omf + src2->influence *f;
                                p.size    = src1->size * omf    + src2->size *f;
                                // dont modify: density, densityWeight
                        }
                }
        }

        // after last?
        if(t>=mPartSets[ mPartSets.size() -1 ].time) {
                //parts = mPartSets[ mPartSets.size() -1 ].particles;
                const int i= (int)mPartSets.size() -1;
                for(size_t j=0; j<mPartSets[i].particles.size(); j++) {
                        ControlParticle p = mPartSets[i].particles[j];
                        // restore
                        p.density = parts[j].density;
                        p.densityWeight = parts[j].densityWeight;
                        p.avgVel = parts[j].avgVel;
                        p.avgVelAcc = parts[j].avgVelAcc;
                        p.avgVelWeight = parts[j].avgVelWeight;
                        parts[j] = p;
                }
        }
}




// --------------------------------------------------------------------------

#define DEBUG_MODVEL 0

// recalculate 
void ControlParticles::calculateKernelWeight() {
        const bool debugKernel = true;

        // calculate kernel area with respect to particlesize/cellsize
        LbmFloat kernelw = -1.;
        LbmFloat kernelnorm = -1.;
        LbmFloat krad = (_radiusAtt*0.75); // FIXME  use real cone approximation...?
        //krad = (_influenceFalloff*1.);
#if (CP_PROJECT2D==1) && (defined(MAIN_2D) || LBMDIM==2)
        kernelw = CP_PI*krad*krad;
        kernelnorm = 1.0 / (_fluidSpacing * _fluidSpacing);
#else // 2D
        kernelw = CP_PI*krad*krad*krad* (4./3.);
        kernelnorm = 1.0 / (_fluidSpacing * _fluidSpacing * _fluidSpacing);
#endif // MAIN_2D

        if(debugKernel) debMsgStd("ControlParticles::calculateKernelWeight",DM_MSG,"kw"<<kernelw<<", norm"<<
                        kernelnorm<<", w*n="<<(kernelw*kernelnorm)<<", rad"<<krad<<", sp"<<_fluidSpacing<<"  ", 7);
        LbmFloat kernelws = kernelw*kernelnorm;
        _kernelWeight = kernelws;
        if(debugKernel) debMsgStd("ControlParticles::calculateKernelWeight",DM_MSG,"influence f="<<_radiusAtt<<" t="<<
                        _influenceTangential<<" a="<<_influenceAttraction<<" v="<<_influenceVelocity<<" kweight="<<_kernelWeight, 7);
        if(_kernelWeight<=0.) {
                errMsg("ControlParticles::calculateKernelWeight", "invalid kernel! "<<_kernelWeight<<", resetting");
                _kernelWeight = 1.;
        }
}

void 
ControlParticles::prepareControl(LbmFloat simtime, LbmFloat dt, ControlParticles *motion) {
        debMsgStd("ControlParticle::prepareControl",DM_MSG," simtime="<<simtime<<" dt="<<dt<<" ", 5);

        //fprintf(stdout,"PREPARE \n");
        LbmFloat avgdw = 0.;
        for(size_t i=0; i<_particles.size(); i++) {
                ControlParticle *cp = &_particles[i];

                if(this->getInfluenceAttraction()<0.) {
                        cp->density= 
                        cp->densityWeight = 1.0;
                        continue;
                } 

                // normalize by kernel 
                //cp->densityWeight = (1.0 - (cp->density / _kernelWeight)); // store last
#if (CP_PROJECT2D==1) && (defined(MAIN_2D) || LBMDIM==2)
                cp->densityWeight = (1.0 - (cp->density / (_kernelWeight*cp->size*cp->size) )); // store last
#else // 2D
                cp->densityWeight = (1.0 - (cp->density / (_kernelWeight*cp->size*cp->size*cp->size) )); // store last
#endif // MAIN_2D

                if(i<10) debMsgStd("ControlParticle::prepareControl",DM_MSG,"kernelDebug i="<<i<<" densWei="<<cp->densityWeight<<" 1/kw"<<(1.0/_kernelWeight)<<" cpdensity="<<cp->density, 9 );
                if(cp->densityWeight<0.) cp->densityWeight=0.;
                if(cp->densityWeight>1.) cp->densityWeight=1.;
                
                avgdw += cp->densityWeight;
                // reset for next step
                cp->density = 0.; 

                if(cp->avgVelWeight>0.) {
                 cp->avgVel     = cp->avgVelAcc/cp->avgVelWeight; 
                 cp->avgVelWeight       = 0.; 
                 cp->avgVelAcc  = LbmVec(0.,0.,0.); 
                }
        }
        //if(debugKernel) for(size_t i=0; i<_particles.size(); i++) { ControlParticle *cp = &_particles[i]; fprintf(stdout,"A %f,%f \n",cp->density,cp->densityWeight); }
        avgdw /= (LbmFloat)(_particles.size());
        //if(motion) { printf("ControlParticle::kernel: avgdw:%f,  kw%f, sp%f \n", avgdw, _kernelWeight, _fluidSpacing); }
        
        //if((simtime>=0.) && (simtime != _currTime)) 
        initTime(simtime, dt);

        if((motion) && (motion->getSize()>0)){
                ControlParticle *motionp = motion->getParticle(0);
                //printf("ControlParticle::prepareControl motion: pos[%f,%f,%f] vel[%f,%f,%f] \n", motionp->pos[0], motionp->pos[1], motionp->pos[2], motionp->vel[0], motionp->vel[1], motionp->vel[2] );
                for(size_t i=0; i<_particles.size(); i++) {
                        ControlParticle *cp = &_particles[i];
                        cp->pos = cp->pos + motionp->pos;
                        cp->vel = cp->vel + motionp->vel;
                        cp->size = cp->size * motionp->size;
                        cp->influence = cp->size * motionp->influence;
                }
        }
        
        // reset to radiusAtt by default
        if(_radiusVel==0.) _radiusVel = _radiusAtt;
        if(_radiusMinMaxd==0.) _radiusMinMaxd = _radiusAtt;
        if(_radiusMaxd==0.) _radiusMaxd = 2.*_radiusAtt;
        // has to be radiusVel<radiusAtt<radiusMinMaxd<radiusMaxd
        if(_radiusVel>_radiusAtt) _radiusVel = _radiusAtt;
        if(_radiusAtt>_radiusMinMaxd) _radiusAtt = _radiusMinMaxd;
        if(_radiusMinMaxd>_radiusMaxd) _radiusMinMaxd = _radiusMaxd;

        //printf("ControlParticle::radii vel:%f att:%f min:%f max:%f \n", _radiusVel,_radiusAtt,_radiusMinMaxd,_radiusMaxd);
        // prepareControl done
}

void ControlParticles::finishControl(std::vector<ControlForces> &forces, LbmFloat iatt, LbmFloat ivel, LbmFloat imaxd) {

        //const LbmFloat iatt  = this->getInfluenceAttraction() * this->getCurrTimestep();
        //const LbmFloat ivel  = this->getInfluenceVelocity();
        //const LbmFloat imaxd = this->getInfluenceMaxdist() * this->getCurrTimestep();
        // prepare for usage
        iatt  *= this->getCurrTimestep();
        ivel  *= 1.; // not necessary!
        imaxd *= this->getCurrTimestep();

        // skip when size=0
        for(int i=0; i<(int)forces.size(); i++) {
                if(DEBUG_MODVEL) fprintf(stdout, "CPFORGF %d , wf:%f,f:%f,%f,%f  ,  v:%f,%f,%f   \n",i, forces[i].weightAtt, forces[i].forceAtt[0],forces[i].forceAtt[1],forces[i].forceAtt[2],   forces[i].forceVel[0], forces[i].forceVel[1], forces[i].forceVel[2] );
                LbmFloat cfweight = forces[i].weightAtt; // always normalize
                if((cfweight!=0.)&&(iatt!=0.)) {
                        // multiple kernels, normalize - note this does not normalize in d>r/2 region
                        if(ABS(cfweight)>1.) { cfweight = 1.0/cfweight; }
                        // multiply iatt afterwards to allow stronger force
                        cfweight *= iatt;
                        forces[i].forceAtt *= cfweight;
                } else {
                        forces[i].weightAtt =  0.;
                        forces[i].forceAtt = LbmVec(0.);
                }

                if( (cfweight==0.) && (imaxd>0.) && (forces[i].maxDistance>0.) ) {
                        forces[i].forceMaxd *= imaxd;
                } else {
                        forces[i].maxDistance=  0.;
                        forces[i].forceMaxd = LbmVec(0.);
                }

                LbmFloat cvweight = forces[i].weightVel; // always normalize
                if(cvweight>0.) {
                        forces[i].forceVel /= cvweight;
                        forces[i].compAv /= cvweight;
                        // now modify cvweight, and write back
                        // important, cut at 1 - otherwise strong vel. influences...
                        if(cvweight>1.) { cvweight = 1.; }
                        // thus cvweight is in the range of 0..influenceVelocity, currently not normalized by numCParts
                        cvweight *= ivel;
                        if(cvweight<0.) cvweight=0.; if(cvweight>1.) cvweight=1.;
                        // LBM, FIXME todo use relaxation factor
                        //pvel = (cvel*0.5 * cvweight) + (pvel * (1.0-cvweight)); 
                        forces[i].weightVel = cvweight;

                        //errMsg("COMPAV","i"<<i<<" compav"<<forces[i].compAv<<" forcevel"<<forces[i].forceVel<<" ");
                } else {
                        forces[i].weightVel = 0.;
                        if(forces[i].maxDistance==0.) forces[i].forceVel = LbmVec(0.);
                        forces[i].compAvWeight = 0.;
                        forces[i].compAv = LbmVec(0.);
                }
                if(DEBUG_MODVEL) fprintf(stdout, "CPFINIF %d , wf:%f,f:%f,%f,%f  ,  v:%f,%f,%f   \n",i, forces[i].weightAtt, forces[i].forceAtt[0],forces[i].forceAtt[1],forces[i].forceAtt[2],  forces[i].forceVel[0],forces[i].forceVel[1],forces[i].forceVel[2] );
        }

        // unused...
        if(DEBUG_MODVEL) fprintf(stdout,"MFC iatt:%f,%f ivel:%f,%f ifmd:%f,%f \n", iatt,_radiusAtt, ivel,_radiusVel, imaxd, _radiusMaxd);
        //for(size_t i=0; i<_particles.size(); i++) { ControlParticle *cp = &_particles[i]; fprintf(stdout," %f,%f,%f ",cp->density,cp->densityWeight, (1.0 - (12.0*cp->densityWeight))); }
        //fprintf(stdout,"\n\nCP DONE \n\n\n");
}


// --------------------------------------------------------------------------
// calculate forces at given position, and modify velocity
// according to timestep
void ControlParticles::calculateCpInfluenceOpt(ControlParticle *cp, LbmVec fluidpos, LbmVec fluidvel, ControlForces *force, LbmFloat fillFactor) {
        // dont reset, only add...
        // test distance, simple squared distance reject
        const LbmFloat cpfo = _radiusAtt*cp->size;

        LbmVec posDelta;
        if(DEBUG_MODVEL) fprintf(stdout, "CP at %f,%f,%f bef fw:%f, f:%f,%f,%f  , vw:%f, v:%f,%f,%f   \n",fluidpos[0],fluidpos[1],fluidpos[2], force->weightAtt, force->forceAtt[0], force->forceAtt[1], force->forceAtt[2], force->weightVel, force->forceVel[0], force->forceVel[1], force->forceVel[2]);
        posDelta        = cp->pos - fluidpos;
#if LBMDIM==2 && (CP_PROJECT2D==1)
        posDelta[2] = 0.; // project to xy plane, z-velocity should already be gone...
#endif

        const LbmFloat distsqr = posDelta[0]*posDelta[0]+posDelta[1]*posDelta[1]+posDelta[2]*posDelta[2];
        if(DEBUG_MODVEL) fprintf(stdout, " Pd at %f,%f,%f d%f   \n",posDelta[0],posDelta[1],posDelta[2], distsqr);
        // cut at influence=0.5 , scaling not really makes sense
        if(cpfo*cpfo < distsqr) {
                /*if(cp->influence>0.5) {
                        if(force->weightAtt == 0.) {
                                if(force->maxDistance*force->maxDistance > distsqr) {
                                const LbmFloat dis = sqrtf((float)distsqr);
                                const LbmFloat sc = dis-cpfo;
                                force->maxDistance = dis;
                                force->forceMaxd = (posDelta)*(sc/dis);
                                }
                        } } */
                return;
        }
        force->weightAtt += 1e-6; // for distance
        force->maxDistance = 0.; // necessary for SPH?

        const LbmFloat pdistance = MAGNITUDE(posDelta);
        LbmFloat pdistinv = 0.;
        if(ABS(pdistance)>0.) pdistinv = 1./pdistance;
        posDelta *= pdistinv;

        LbmFloat falloffAtt = 0.; //CPKernel::kernel(cpfo * 1.0, pdistance);
        const LbmFloat qac = pdistance / cpfo ;
        if (qac < 1.0){ // return 0.;
                if(qac < 0.5) falloffAtt =  1.0f;
                else         falloffAtt = (1.0f - qac) * 2.0f;
        }

        // vorticity force:
        // - //LbmVec forceVort; 
        // - //CROSS(forceVort, posDelta, cp->rotaxis);
        // - //NORMALIZE(forceVort);
        // - if(falloffAtt>1.0) falloffAtt=1.0;

#if (CP_PROJECT2D==1) && (defined(MAIN_2D) || LBMDIM==2)
        // fillFactor *= 2.0 *0.75 * pdistance; // 2d>3d sampling
#endif // (CP_PROJECT2D==1) && (defined(MAIN_2D) || LBMDIM==2)
        
        LbmFloat signum = getInfluenceAttraction() > 0.0 ? 1.0 : -1.0;  
        cp->density += falloffAtt * fillFactor;
        force->forceAtt +=  posDelta *cp->densityWeight *cp->influence *signum; 
        force->weightAtt += falloffAtt*cp->densityWeight *cp->influence;
        
        LbmFloat falloffVel = 0.; //CPKernel::kernel(cpfo * 1.0, pdistance);
        const LbmFloat cpfv = _radiusVel*cp->size;
        if(cpfv*cpfv < distsqr) { return; }
        const LbmFloat qvc = pdistance / cpfo ;
        //if (qvc < 1.0){ 
                //if(qvc < 0.5) falloffVel =  1.0f;
                //else         falloffVel = (1.0f - qvc) * 2.0f;
        //}
        falloffVel = 1.-qvc;

        LbmFloat pvWeight; // = (1.0-cp->densityWeight) * _currTimestep * falloffVel;
        pvWeight = falloffVel *cp->influence; // std, without density influence
        //pvWeight *= (1.0-cp->densityWeight); // use inverse density weight
        //pvWeight *=      cp->densityWeight; // test, use density weight
        LbmVec modvel(0.);
        modvel += cp->vel * pvWeight;
        //pvWeight = 1.; modvel = partVel; // DEBUG!?

        if(pvWeight>0.) {
                force->forceVel += modvel;
                force->weightVel += pvWeight;

                cp->avgVelWeight += falloffVel;
                cp->avgVel += fluidvel;
        } 
        if(DEBUG_MODVEL) fprintf(stdout, "CP at %f,%f,%f aft fw:%f, f:%f,%f,%f  , vw:%f, v:%f,%f,%f   \n",fluidpos[0],fluidpos[1],fluidpos[2], force->weightAtt, force->forceAtt[0], force->forceAtt[1], force->forceAtt[2], force->weightVel, force->forceVel[0], force->forceVel[1], force->forceVel[2]);
        return;
}

void ControlParticles::calculateMaxdForce(ControlParticle *cp, LbmVec fluidpos, ControlForces *force) {
        if(force->weightAtt != 0.) return; // maxd force off
        if(cp->influence <= 0.5) return;   // ignore

        LbmVec posDelta;
        //if(DEBUG_MODVEL) fprintf(stdout, "CP at %f,%f,%f bef fw:%f, f:%f,%f,%f  , vw:%f, v:%f,%f,%f   \n",fluidpos[0],fluidpos[1],fluidpos[2], force->weightAtt, force->forceAtt[0], force->forceAtt[1], force->forceAtt[2], force->weightVel, force->forceVel[0], force->forceVel[1], force->forceVel[2]);
        posDelta        = cp->pos - fluidpos;
#if LBMDIM==2 && (CP_PROJECT2D==1)
        posDelta[2] = 0.; // project to xy plane, z-velocity should already be gone...
#endif

        // dont reset, only add...
        // test distance, simple squared distance reject
        const LbmFloat distsqr = posDelta[0]*posDelta[0]+posDelta[1]*posDelta[1]+posDelta[2]*posDelta[2];
        
        // closer cp found
        if(force->maxDistance*force->maxDistance < distsqr) return;
        
        const LbmFloat dmin = _radiusMinMaxd*cp->size;
        if(distsqr<dmin*dmin) return; // inside min
        const LbmFloat dmax = _radiusMaxd*cp->size;
        if(distsqr>dmax*dmax) return; // outside


        if(DEBUG_MODVEL) fprintf(stdout, " Pd at %f,%f,%f d%f   \n",posDelta[0],posDelta[1],posDelta[2], distsqr);
        // cut at influence=0.5 , scaling not really makes sense
        const LbmFloat dis = sqrtf((float)distsqr);
        //const LbmFloat sc = dis - dmin;
        const LbmFloat sc = (dis-dmin)/(dmax-dmin); // scale from 0-1
        force->maxDistance = dis;
        force->forceMaxd = (posDelta/dis) * sc;
        //debug errMsg("calculateMaxdForce","pos"<<fluidpos<<" dis"<<dis<<" sc"<<sc<<" dmin"<<dmin<<" maxd"<< force->maxDistance <<" fmd"<<force->forceMaxd );
        return;
}