public static void Run()
{
Z3Point3D constPoint = Z3Point3D.MkZ3Const("const"); // ("const X", "const Y", "const Z")
Z3Point3D normalized = new Z3Point3D();
ArithExpr higherCoord =
Z3Math.Max(
Z3Math.Max(
Z3Math.Abs(constPoint.X),
Z3Math.Abs(constPoint.Y)),
Z3Math.Abs(constPoint.Z));
normalized.X = Z3.Context.MkDiv(constPoint.X, constPoint.Y);
normalized.Y = Z3Math.One;//Z3.Context.MkDiv(constPoint.Y, higherCoord);
normalized.Z = Z3.Context.MkDiv(constPoint.Z, constPoint.Y);
normalized.X = CalcApproximateCoordFromManhattanToEuclidianSystem(normalized.X, normalized.Y, normalized.Z);
normalized.Y = CalcApproximateCoordFromManhattanToEuclidianSystem(normalized.Y, normalized.X, normalized.Z);
normalized.Z = CalcApproximateCoordFromManhattanToEuclidianSystem(normalized.Z, normalized.Y, normalized.X);
Z3Point3D up = Z3Point3D.DirectionPoint(Direction.Up); // (0, 1, 0)
Z3Point3D distVec = normalized - up;
ArithExpr distance =
Max(
Abs(CalcApproximateCoordFromManhattanToEuclidianSystem(distVec.X, distVec.Y, distVec.Z)),
Abs(CalcApproximateCoordFromManhattanToEuclidianSystem(distVec.Y, distVec.X, distVec.Z)),
Abs(CalcApproximateCoordFromManhattanToEuclidianSystem(distVec.Z, distVec.Y, distVec.X)));
BoolExpr expr = Z3.Context.MkLt(distance, Z3.Context.MkReal(1, 2));
Solver solver = Z3.Context.MkSolver();
solver.Assert(expr);
Status status = solver.Check();
Statistics stats = solver.Statistics;
switch (status)
{
case Status.UNKNOWN:
Console.WriteLine("Solver check for witness returned Status.UNKNOWN because: " + solver.ReasonUnknown);
throw new ArgumentException("Test Failed Expception");
case Status.UNSATISFIABLE:
Console.WriteLine("There is no valid witness for " + expr);
throw new ArgumentException("Test Failed Expception");
case Status.SATISFIABLE:
Console.WriteLine("OK, model: " + solver.Model);
break;
}
}
public static Z3Body MkZ3Const()
{
Z3Body result = new Z3Body();
var jointTypes = EnumUtil.GetValues <JointType>();
foreach (var jointType in jointTypes)
{
result.Joints.Add(jointType, Z3Point3D.MkZ3Const(jointType.ToString()));
result.Norms.Add(jointType, Z3.Context.MkRealConst(jointType.ToString() + " Norm"));
}
return(result);
}
public static Z3Body MkZ3Const()
{
var result = new Z3Body();
var jointTypes = EnumUtil.GetValues <JointType>();
foreach (var jointType in jointTypes)
{
result.Joints.Add(jointType, Z3Point3D.MkZ3Const(EnumUtil.GetDescription <JointType>(jointType)));
}
result.Norms.Add(JointType.SpineMid, Z3Math.Real(0.3));
result.Norms.Add(JointType.SpineShoulder, Z3Math.Real(0.3));
result.Norms.Add(JointType.ShoulderLeft, Z3Math.Real(0.2));
result.Norms.Add(JointType.ElbowLeft, Z3Math.Real(0.2));
result.Norms.Add(JointType.WristLeft, Z3Math.Real(0.2));
result.Norms.Add(JointType.HandLeft, Z3Math.Real(0.1));
result.Norms.Add(JointType.HandTipLeft, Z3Math.Real(0.1));
result.Norms.Add(JointType.ThumbLeft, Z3Math.Real(0.1));
result.Norms.Add(JointType.Neck, Z3Math.Real(0.1));
result.Norms.Add(JointType.Head, Z3Math.Real(0.2));
result.Norms.Add(JointType.ShoulderRight, Z3Math.Real(0.2));
result.Norms.Add(JointType.ElbowRight, Z3Math.Real(0.2));
result.Norms.Add(JointType.WristRight, Z3Math.Real(0.2));
result.Norms.Add(JointType.HandRight, Z3Math.Real(0.1));
result.Norms.Add(JointType.HandTipRight, Z3Math.Real(0.1));
result.Norms.Add(JointType.ThumbRight, Z3Math.Real(0.1));
result.Norms.Add(JointType.SpineBase, Z3Math.Real(0.0));
result.Norms.Add(JointType.HipLeft, Z3Math.Real(0.2));
result.Norms.Add(JointType.KneeLeft, Z3Math.Real(0.3));
result.Norms.Add(JointType.AnkleLeft, Z3Math.Real(0.3));
result.Norms.Add(JointType.FootLeft, Z3Math.Real(0.1));
result.Norms.Add(JointType.HipRight, Z3Math.Real(0.2));
result.Norms.Add(JointType.KneeRight, Z3Math.Real(0.3));
result.Norms.Add(JointType.AnkleRight, Z3Math.Real(0.3));
result.Norms.Add(JointType.FootRight, Z3Math.Real(0.1));
return(result);
}
