public override Symbol Build(Symbol data)
{
var weightName = UUID.GetID(ID + "_w");
var biasName = UUID.GetID(ID + "_b");
var bias = UseBias ? Symbol.Variable(biasName) : null;
InitParams.Add(weightName, KernalInitializer);
if (UseBias)
{
InitParams.Add(biasName, BiasInitializer);
}
ConstraintParams.Add(weightName, KernalConstraint);
if (UseBias)
{
ConstraintParams.Add(biasName, BiasConstraint);
}
RegularizerParams.Add(weightName, KernalRegularizer);
if (UseBias)
{
RegularizerParams.Add(biasName, BiasRegularizer);
}
var l = sym.FullyConnected(data, Symbol.Variable(weightName), Dim, bias, !UseBias, true, ID);
if (Activation != ActivationType.Linear)
{
var act = ActivationRegistry.Get(Activation);
l = act.Build(l);
}
return(l);
}
public override Symbol Build(Symbol x)
{
var weightName = UUID.GetID(ID + "_w");
InitParams.Add(weightName, EmbeddingsInitializer);
ConstraintParams.Add(weightName, EmbeddingsConstraint);
RegularizerParams.Add(weightName, EmbeddingsRegularizer);
return(sym.Embedding(x, Symbol.Variable(weightName), InputDim, OutputDim, symbol_name: ID));
}
public override Symbol Build(Symbol x)
{
var biasName = UUID.GetID(ID + "_b");
var weightName = UUID.GetID(ID + "_w");
var bias = UseBias ? Symbol.Variable(biasName) : null;
Shape pad = null;
if (Padding.HasValue)
{
pad = new Shape(Padding.Value, Padding.Value, Padding.Value);
}
else
{
pad = new Shape();
}
if (UseBias)
{
InitParams.Add(biasName, BiasInitializer);
}
InitParams.Add(weightName, KernalInitializer);
ConstraintParams.Add(weightName, KernalConstraint);
if (UseBias)
{
ConstraintParams.Add(biasName, BiasConstraint);
}
RegularizerParams.Add(weightName, KernalRegularizer);
if (UseBias)
{
RegularizerParams.Add(biasName, BiasRegularizer);
}
var conv = sym.Deconvolution(x, Symbol.Variable(weightName), new Shape(KernalSize.Item1, KernalSize.Item2, KernalSize.Item3),
Filters, new Shape(Strides.Item1, Strides.Item2, Strides.Item3), new Shape(DialationRate.Item1, DialationRate.Item2, DialationRate.Item3), pad,
new Shape(), new Shape(), bias, !UseBias, 1, 512, null, false, null, ID);
if (Activation != ActivationType.Linear)
{
var act = ActivationRegistry.Get(Activation);
conv = act.Build(conv);
}
return(conv);
}
public override Symbol Build(Symbol x)
{
var beta = UUID.GetID(ID + "_beta");
var gamma = UUID.GetID(ID + "_beta");
var movingMean = UUID.GetID(ID + "_mean");
var movingVar = UUID.GetID(ID + "_var");
InitParams.Add(beta, BetaInitializer);
InitParams.Add(gamma, GammaInitializer);
InitParams.Add(movingMean, MovingMeanInitializer);
InitParams.Add(movingVar, MovingVarianceInitializer);
ConstraintParams.Add(beta, BetaConstraint);
ConstraintParams.Add(gamma, GammaConstraint);
RegularizerParams.Add(beta, BetaRegularizer);
RegularizerParams.Add(gamma, GammaRegularizer);
return(sym.BatchNorm(x, Symbol.Variable(gamma), Symbol.Variable(beta), Symbol.Variable(movingMean), Symbol.Variable(movingVar),
Epsilon, Momentum, Center, Scale, false, Axis, false, ID));
}
public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
//m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
{
Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
}
if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
}
if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
}
return true;
}
public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis)
{
BulletConstraintUnman constrainu = constrain as BulletConstraintUnman;
return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis);
}
public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis);
//m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
internal static bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
{
Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
}
if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
}
if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
}
return true;
}
public void SetParam(ConstraintParams num, float value, int axis)
{
if ((axis >= 0) && (axis < 3))
{
switch (num)
{
case ConstraintParams.BT_CONSTRAINT_STOP_ERP:
m_linearLimits.m_stopERP[axis] = value;
m_flags |= (int)SixDofFlags.BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
break;
case ConstraintParams.BT_CONSTRAINT_STOP_CFM:
m_linearLimits.m_stopCFM[axis] = value;
m_flags |= (int)SixDofFlags.BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
break;
case ConstraintParams.BT_CONSTRAINT_CFM:
m_linearLimits.m_normalCFM[axis] = value;
m_flags |= (int)SixDofFlags.BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
break;
default:
Debug.Assert(false);
break;
}
}
else if ((axis >= 3) && (axis < 6))
{
switch (num)
{
case ConstraintParams.BT_CONSTRAINT_STOP_ERP:
m_angularLimits[axis - 3].m_stopERP = value;
m_flags |= (int)SixDofFlags.BT_6DOF_FLAGS_ERP_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
break;
case ConstraintParams.BT_CONSTRAINT_STOP_CFM:
m_angularLimits[axis - 3].m_stopCFM = value;
m_flags |= (int)SixDofFlags.BT_6DOF_FLAGS_CFM_STOP << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
break;
case ConstraintParams.BT_CONSTRAINT_CFM:
m_angularLimits[axis - 3].m_normalCFM = value;
m_flags |= (int)SixDofFlags.BT_6DOF_FLAGS_CFM_NORM << (axis * BT_6DOF_FLAGS_AXIS_SHIFT);
break;
default:
Debug.Assert(false);
break;
}
}
else
{
Debug.Assert(false);
}
}
