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  • What does the `new` keyword do

    - by Mike
    I'm following a Java tutorial online, trying to learn the language, and it's bouncing between two semantics for using arrays. long results[] = new long[3]; results[0] = 1; results[1] = 2; results[2] = 3; and: long results[] = {1, 2, 3}; The tutorial never really mentioned why it switched back and forth between the two so I searched a little on the topic. My current understanding is that the new operator is creating an object of "array of longs" type. What I do not understand is why do I want that, and what are the ramifications of that? Are there certain "array" specific methods that won't work on an array unless it's an "array object"? Is there anything that I can't do with an "array object" that I can do with a normal array? Does the Java VM have to do clean up on objects initialized with the new operator that it wouldn't normally have to do? I'm coming from C, so my Java terminology, may not be correct here, so please ask for clarification if something's not understandable.

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  • Passing row from UIPickerView to integer CoreData attribute

    - by Gordon Fontenot
    I'm missing something here, and feeling like an idiot about it. I'm using a UIPickerView in my app, and I need to assign the row number to a 32-bit integer attribute for a Core Data object. To do this, I am using this method: -(void)pickerView:(UIPickerView *)pickerView didSelectRow:(NSInteger)row inComponent:(NSInteger)component { object.integerValue = row; } This is giving me a warning: warning: passing argument 1 of 'setIntegerValue:' makes pointer from integer without a cast What am I mixing up here? --EDIT 1-- Ok, so I can get rid of the errors by changing the method to do the following: NSNumber *number = [NSNumber numberWithInteger:row]; object.integerValue = rating; However, I still get a value of 0 for object.integerValue if I use NSLog to print it out. object.integerValue has a max value of 5, so I print out number instead, and then I'm getting a number above 62,000,000. Which doesn't seem right to me, since there are 5 rows. If I NSLog the row variable, I get a number between 0 and 5. So why do I end up with a completely different number after casting the number to NSNumber?

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  • Auto-(un)boxing fail for compound assignment

    - by polygenelubricants
    Thanks to the implicit casting in compound assignments and increment/decrement operators, the following compiles: byte b = 0; ++b; b++; --b; b--; b += b -= b *= b /= b %= b; b <<= b >>= b >>>= b; b |= b &= b ^= b; And thanks to auto-boxing and auto-unboxing, the following also compiles: Integer ii = 0; ++ii; ii++; --ii; ii--; ii += ii -= ii *= ii /= ii %= ii; ii <<= ii >>= ii >>>= ii; ii |= ii &= ii ^= ii; And yet, the last line in the following snippet gives compile-time error: Byte bb = 0; ++bb; bb++; --bb; bb--; // ... okay so far! bb += bb; // DOESN'T COMPILE!!! // "The operator += is undefined for the argument type(s) Byte, byte" Can anyone help me figure out what's going on here? The byte b version compiles just fine, so shouldn't Byte bb just follow suit and do the appropriate boxing and unboxing as necessary to accommodate?

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  • What OOP pattern to use when only adding new methods, not data?

    - by Jonathon Reinhart
    Hello eveyone... In my app, I have deal with several different "parameters", which derive from IParameter interface, and also ParamBase abstract base class. I currently have two different parameter types, call them FooParameter and BarParameter, which both derive from ParamBase. Obviously, I can treat them both as IParameters when I need to deal with them generically, or detect their specific type when I need to handle their specific functionality. My question lies in specific FooParameters. I currently have a few specific ones with their own classes which derive from FooParameter, we'll call them FP12, FP13, FP14, etc. These all have certain characteristics, which make me treat them differently in the UI. (Most have names associated with the individual bits, or ranges of bits). Note that these specific, derived FP's have no additional data associated with them, only properties (which refer to the same data in different ways) or methods. Now, I'd like to keep all of these parameters in a Dictionary<String, IParameter> for easy generic access. The problem is, if I want to refer to a specific one with the special GUI functions, I can't write: FP12 fp12 = (FP12)paramList["FP12"] because you can't downcast to a derived type (rightfully so). But in my case, I didn't add any data, so the cast would theoretically work. What type of programming model should I be using instead? Thanks!

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  • JTree TreePath casting problem

    - by newbie123
    I got this casting problem java.lang.String cannot be cast to java.io.File, when I trying to do this TreePath p = new TreePath(new Object[] {"src","file","My Diary" }); This is my jtree file model class FileTreeModel implements TreeModel { private FileNode root; public FileTreeModel(String directory) { root = new FileNode(directory); } public Object getRoot() { return root; } public Object getChild(Object parent, int index) { FileNode parentNode = (FileNode) parent; return new FileNode(parentNode, parentNode.listFiles()[index].getName()); } public int getChildCount(Object parent) { FileNode parentNode = (FileNode) parent; if (parent == null || !parentNode.isDirectory() || parentNode.listFiles() == null) { return 0; } return parentNode.listFiles().length; } public boolean isLeaf(Object node) { return (getChildCount(node) == 0); } public int getIndexOfChild(Object parent, Object child) { FileNode parentNode = (FileNode) parent; FileNode childNode = (FileNode) child; return Arrays.asList(parentNode.list()).indexOf(childNode.getName()); } public void valueForPathChanged(TreePath path, Object newValue) { } public void addTreeModelListener(TreeModelListener l) { } public void removeTreeModelListener(TreeModelListener l) { } } class FileNode extends java.io.File { public FileNode(String directory) { super(directory); } public FileNode(FileNode parent, String child) { super(parent, child); } @Override public String toString() { return getName(); } }

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  • static_cast from Derived* to void* to Base*

    - by Roberto
    I would like to cast a pointer to a member of a derived class to void* and from there to a pointer of the base class, like in the example below: #include <iostream> class Base { public: void function1(){std::cout<<"1"<<std::endl;} virtual void function2()=0; }; class Derived : public Base { public: virtual void function2(){std::cout<<"2"<<std::endl;} }; int main() { Derived d; void ptr* = static_cast<void*>(&d); Base* baseptr=static_cast<Base*>(ptr); baseptr->function1(); baseptr->function2(); } This compiles and gives the desired result (prints 1 and 2 respectively), but is it guaranteed to work? The description of static_cast I found here: http://en.cppreference.com/w/cpp/language/static_cast only mentions conversion to void* and back to a pointer to the same class (point 10).

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  • Explicitly typing variables causes compiler to think an instance of a builtin type doesn't have a pr

    - by wallacoloo
    I narrowed the causes of an AS3 compiler error 1119 down to code that looks similar to this: var test_inst:Number = 2.953; trace(test_inst); trace(test_inst.constructor); I get the error "1119: Access of possibly undefined property constructor through a reference with static type Number." Now if I omit the variable's type, I don't get that error: var test_inst = 2.953; trace(test_inst); trace(test_inst.constructor); it produces the expected output: 2.953 [class Number] So what's the deal? I like explicitly typing variables, so is there any way to solve this error other than not providing the variable's type?

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  • Erroneous/Incorrect C2248 error using Visual Studio 2010

    - by Dylan Bourque
    I'm seeing what I believe to be an erroneous/incorrect compiler error using the Visual Studio 2010 compiler. I'm in the process of up-porting our codebase from Visual Studio 2005 and I ran across a construct that was building correctly before but now generates a C2248 compiler error. Obviously, the code snippet below has been generic-ized, but it is a compilable example of the scenario. The ObjectPtr<T> C++ template comes from our codebase and is the source of the error in question. What appears to be happening is that the compiler is generating a call to the copy constructor for ObjectPtr<T> when it shouldn't (see my comment block in the SomeContainer::Foo() method below). For this code construct, there is a public cast operator for SomeUsefulData * on ObjectPtr<SomeUsefulData> but it is not being chosen inside the true expression if the ?: operator. Instead, I get the two errors in the block quote below. Based on my knowledge of C++, this code should compile. Has anyone else seen this behavior? If not, can someone point me to a clarification of the compiler resolution rules that would explain why it's attempting to generate a copy of the object in this case? Thanks in advance, Dylan Bourque Visual Studio build output: c:\projects\objectptrtest\objectptrtest.cpp(177): error C2248: 'ObjectPtr::ObjectPtr' : cannot access private member declared in class 'ObjectPtr' with [ T=SomeUsefulData ] c:\projects\objectptrtest\objectptrtest.cpp(25) : see declaration of 'ObjectPtr::ObjectPtr' with [ T=SomeUsefulData ] c:\projects\objectptrtest\objectptrtest.cpp(177): error C2248: 'ObjectPtr::ObjectPtr' : cannot access private member declared in class 'ObjectPtr' with [ T=SomeUsefulData ] c:\projects\objectptrtest\objectptrtest.cpp(25) : see declaration of 'ObjectPtr::ObjectPtr' with [ T=SomeUsefulData ] Below is a minimal, compilable example of the scenario: #include <stdio.h> #include <tchar.h> template<class T> class ObjectPtr { public: ObjectPtr<T> (T* pObj = NULL, bool bShared = false) : m_pObject(pObj), m_bObjectShared(bShared) {} ~ObjectPtr<T> () { Detach(); } private: // private, unimplemented copy constructor and assignment operator // to guarantee that ObjectPtr<T> objects are not copied ObjectPtr<T> (const ObjectPtr<T>&); ObjectPtr<T>& operator = (const ObjectPtr<T>&); public: T * GetObject () { return m_pObject; } const T * GetObject () const { return m_pObject; } bool HasObject () const { return (GetObject()!=NULL); } bool IsObjectShared () const { return m_bObjectShared; } void ObjectShared (bool bShared) { m_bObjectShared = bShared; } bool IsNull () const { return !HasObject(); } void Attach (T* pObj, bool bShared = false) { Detach(); if (pObj != NULL) { m_pObject = pObj; m_bObjectShared = bShared; } } void Detach (T** ppObject = NULL) { if (ppObject != NULL) { *ppObject = m_pObject; m_pObject = NULL; m_bObjectShared = false; } else { if (HasObject()) { if (!IsObjectShared()) delete m_pObject; m_pObject = NULL; m_bObjectShared = false; } } } void Detach (bool bDeleteIfNotShared) { if (HasObject()) { if (bDeleteIfNotShared && !IsObjectShared()) delete m_pObject; m_pObject = NULL; m_bObjectShared = false; } } bool IsEqualTo (const T * pOther) const { return (GetObject() == pOther); } public: T * operator -> () { ASSERT(HasObject()); return m_pObject; } const T * operator -> () const { ASSERT(HasObject()); return m_pObject; } T & operator * () { ASSERT(HasObject()); return *m_pObject; } const T & operator * () const { ASSERT(HasObject()); return (const C &)(*m_pObject); } operator T * () { return m_pObject; } operator const T * () const { return m_pObject; } operator bool() const { return (m_pObject!=NULL); } ObjectPtr<T>& operator = (T * pObj) { Attach(pObj, false); return *this; } bool operator == (const T * pOther) const { return IsEqualTo(pOther); } bool operator == (T * pOther) const { return IsEqualTo(pOther); } bool operator != (const T * pOther) const { return !IsEqualTo(pOther); } bool operator != (T * pOther) const { return !IsEqualTo(pOther); } bool operator == (const ObjectPtr<T>& other) const { return IsEqualTo(other.GetObject()); } bool operator != (const ObjectPtr<T>& other) const { return !IsEqualTo(other.GetObject()); } bool operator == (int pv) const { return (pv==NULL)? IsNull() : (LPVOID(m_pObject)==LPVOID(pv)); } bool operator != (int pv) const { return !(*this == pv); } private: T * m_pObject; bool m_bObjectShared; }; // Some concrete type that holds useful data class SomeUsefulData { public: SomeUsefulData () {} ~SomeUsefulData () {} }; // Some concrete type that holds a heap-allocated instance of // SomeUsefulData class SomeContainer { public: SomeContainer (SomeUsefulData* pUsefulData) { m_pData = pUsefulData; } ~SomeContainer () { // nothing to do here } public: bool EvaluateSomeCondition () { // fake condition check to give us an expression // to use in ?: operator below return true; } SomeUsefulData* Foo () { // this usage of the ?: operator generates a C2248 // error b/c it's attempting to call the copy // constructor on ObjectPtr<T> return EvaluateSomeCondition() ? m_pData : NULL; /**********[ DISCUSSION ]********** The following equivalent constructs compile w/out error and behave correctly: (1) explicit cast to SomeUsefulData* as a comiler hint return EvaluateSomeCondition() ? (SomeUsefulData *)m_pData : NULL; (2) if/else instead of ?: if (EvaluateSomeCondition()) return m_pData; else return NULL; (3) skip the condition check and return m_pData as a SomeUsefulData* directly return m_pData; **********[ END DISCUSSION ]**********/ } private: ObjectPtr<SomeUsefulData> m_pData; }; int _tmain(int argc, _TCHAR* argv[]) { return 0; }

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  • GLSL: How Do I cast a float into an int?

    - by dugla
    In a GLSL fragment shader I am trying to cast a float into an int. The compiler has other ideas. It complains thusly: ERROR: 0:60: '=' : cannot convert from 'mediump float' to 'highp int' I am trying to do this: mediump float indexf = floor(2.0 * mixer); highp int index = indexf; I (vainly) tried to raise the precision of the int above the float to appease the GL Gods but no joy. Could someone please school me here? Thanks, Doug

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  • Round time to 5 minute nearest SQL Server

    - by Drako
    i don't know if it can be usefull to somebody but I went crazy looking for a solution and ended up doing it myself. Here is a function that (according to a date passed as parameter), returns the same date and approximate time to the nearest multiple of 5. It is a slow query, so if anyone has a better solution, it is welcome. A greeting. CREATE FUNCTION [dbo].[RoundTime] (@Time DATETIME) RETURNS DATETIME AS BEGIN DECLARE @min nvarchar(50) DECLARE @val int DECLARE @hour int DECLARE @temp int DECLARE @day datetime DECLARE @date datetime SET @date = CONVERT(DATETIME, @Time, 120) SET @day = (select DATEADD(dd, 0, DATEDIFF(dd, 0, @date))) SET @hour = (select datepart(hour,@date)) SET @min = (select datepart(minute,@date)) IF LEN(@min) > 1 BEGIN SET @val = CAST(substring(@min, 2, 1) as int) END else BEGIN SET @val = CAST(substring(@min, 1, 1) as int) END IF @val <= 2 BEGIN SET @val = CAST(CAST(@min as int) - @val as int) END else BEGIN IF (@val <> 5) BEGIN SET @temp = 5 - CAST(@min%5 as int) SET @val = CAST(CAST(@min as int) + @temp as int) END IF (@val = 60) BEGIN SET @val = 0 SET @hour = @hour + 1 END IF (@hour = 24) BEGIN SET @day = DATEADD(day,1,@day) SET @hour = 0 SET @min = 0 END END RETURN CONVERT(datetime, CAST(DATEPART(YYYY, @day) as nvarchar) + '-' + CAST(DATEPART(MM, @day) as nvarchar) + '-' + CAST(DATEPART(dd, @day) as nvarchar) + ' ' + CAST(@hour as nvarchar) + ':' + CAST(@val as nvarchar), 120) END

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  • Quantifying the Performance of Garbage Collection vs. Explicit Memory Management

    - by EmbeddedProg
    I found this article here: Quantifying the Performance of Garbage Collection vs. Explicit Memory Management http://www.cs.umass.edu/~emery/pubs/gcvsmalloc.pdf In the conclusion section, it reads: Comparing runtime, space consumption, and virtual memory footprints over a range of benchmarks, we show that the runtime performance of the best-performing garbage collector is competitive with explicit memory management when given enough memory. In particular, when garbage collection has five times as much memory as required, its runtime performance matches or slightly exceeds that of explicit memory management. However, garbage collection’s performance degrades substantially when it must use smaller heaps. With three times as much memory, it runs 17% slower on average, and with twice as much memory, it runs 70% slower. Garbage collection also is more susceptible to paging when physical memory is scarce. In such conditions, all of the garbage collectors we examine here suffer order-of-magnitude performance penalties relative to explicit memory management. So, if my understanding is correct: if I have an app written in native C++ requiring 100 MB of memory, to achieve the same performance with a "managed" (i.e. garbage collector based) language (e.g. Java, C#), the app should require 5*100 MB = 500 MB? (And with 2*100 MB = 200 MB, the managed app would run 70% slower than the native app?) Do you know if current (i.e. latest Java VM's and .NET 4.0's) garbage collectors suffer the same problems described in the aforementioned article? Has the performance of modern garbage collectors improved? Thanks.

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  • Assign method in Scala.

    - by Lukasz Lew
    When this code is executed: var a = 24 var b = Array (1, 2, 3) a = 42 b = Array (3, 4, 5) b (1) = 42 I see three (five?) assignments here. What is the name of the method call that is called in such circumstances? Is it operator overloading?

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  • unusual ternary operation

    - by nik
    Hi, I was asked to perform this operation of ternary operator use: $test='one'; echo $test == 'one' ? 'one' : $test == 'two' ? 'two' : 'three'; Which prints two (checked using php). I am still not sure about the logic for this. Please, can anybody tell me the logic for this.

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  • How to Filter ADO.NET data using a Full Text Seach (FTS) field?

    - by ActionFactory
    Hi All, We are using ADO.NET dataservices & are building URL based filters. Example: /Customers?filter=City eq 'London' We now need to filter on a Full Text 'tags' Field. WAS HOPING FOR: /Customers?filter=Tag like 'Friendly' PROBLEM: ADO.NET does not have a LIKE operator. ADO.NET does not seem to like FTS (It is not finding a match - because it is not parsing through the CSV's) Any ideas how to make this work? THX

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  • Overloading + to add two pointers

    - by iAdam
    I have a String class and I want to overload + to add two String* pointers. something like this doesn't work: String* operator+(String* s1, String* s2); Is there any way to avoid passing by reference. Consider this example: String* s1 = new String("Hello"); String* s2 = new String("World"); String* s3 = s1 + s2; I need this kind of addition to work. Please suggest.

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  • Ternary operators in C#

    - by pm_2
    With the ternary operator, it is possible to do something like the following (assuming Func1() and Func2() return an int: int x = (x == y) ? Func1() : Func2(); However, is there any way to do the same thing, without returning a value? For example, something like (assuming Func1() and Func2() return void): (x == y) ? Func1() : Func2(); I realise this could be accomplished using an if statement, I just wondered if there was a way to do it like this.

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  • SQL SERVER – Fix: Error : 402 The data types ntext and varchar are incompatible in the equal to operator

    - by pinaldave
    Some errors are very simple to understand but the solution of the same is not easy to figure out. Here is one of the similar errors where it clearly suggests where the problem is but does not tell what is the solution. Additionally, there are multiple solutions so developers often get confused with which one is correct and which one is not correct. Let us first recreate scenario and understand where the problem is. Let us run following USE Tempdb GO CREATE TABLE TestTable (ID INT, MyText NTEXT) GO SELECT ID, MyText FROM TestTable WHERE MyText = 'AnyText' GO DROP TABLE TestTable GO When you run above script it will give you following error. Msg 402, Level 16, State 1, Line 1 The data types ntext and varchar are incompatible in the equal to operator. One of the questions I often receive is that voucher is for sure compatible to equal to operator, then why does this error show up. Well, the answer is much simpler I think we have not understood the error message properly. Please see the image below. The next and varchar are not compatible when compared with each other using equal sign. Now let us change the data type on the right side of the string to nvarchar from varchar. To do that we will put N’ before the string. USE Tempdb GO CREATE TABLE TestTable (ID INT, MyText NTEXT) GO SELECT ID, MyText FROM TestTable WHERE MyText = N'AnyText' GO DROP TABLE TestTable GO When you run above script it will give following error. Msg 402, Level 16, State 1, Line 1 The data types ntext and nvarchar are incompatible in the equal to operator. You can see that error message also suggests that now we are comparing next to nvarchar. Now as we have understood the error properly, let us see various solutions to the above problem. Solution 1: Convert the data types to match with each other using CONVERT function. Change the datatype of the MyText to nvarchar. SELECT ID, MyText FROM TestTable WHERE CONVERT(NVARCHAR(MAX), MyText) = N'AnyText' GO Solution 2: Convert the data type of columns from NTEXT to NVARCHAR(MAX) (TEXT to VARCHAR(MAX) ALTER TABLE TestTable ALTER COLUMN MyText NVARCHAR(MAX) GO Now you can run the original query again and it will work fine. Solution 3: Using LIKE command instead of Equal to command. SELECT ID, MyText FROM TestTable WHERE MyText LIKE 'AnyText' GO Well, any of the three of the solutions will work. Here is my suggestion if you can change the column data type from ntext or text to nvarchar or varchar, you should follow that path as text and ntext datatypes are marked as deprecated. All developers any way to change the deprecated data types in future, it will be a good idea to change them right early. If due to any reason you can not convert the original column use Solution 1 for temporary fix. Solution 3 is the not the best solution and use it as a last option. Did I miss any other method? If yes, please let me know and I will add the solution to original blog post with due credit. Reference: Pinal Dave (http://blog.sqlauthority.com) Filed under: PostADay, SQL, SQL Authority, SQL Error Messages, SQL Query, SQL Server, SQL Tips and Tricks, T SQL, Technology

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  • The internal storage of a DATETIME value

    - by Peter Larsson
    SELECT  [Now],         BinaryFormat,         SUBSTRING(BinaryFormat, 1, 4) AS DayPart,         SUBSTRING(BinaryFormat, 5, 4) AS TimePart,         CAST(SUBSTRING(BinaryFormat, 1, 4) AS INT) AS [Days],         DATEADD(DAY, CAST(SUBSTRING(BinaryFormat, 1, 4) AS INT), 0) AS [Today],         CAST(SUBSTRING(BinaryFormat, 5, 4) AS INT) AS [Ticks],         DATEADD(MILLISECOND, 1000.E / 300.E * CAST(SUBSTRING(BinaryFormat, 5, 4) AS INT), 0) AS Peso FROM    (             SELECT  GETDATE() AS [Now],                     CAST(GETDATE() AS BINARY(8)) AS BinaryFormat         ) AS d

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  • Working with Reporting Services Filters – Part 3: The TOP and BOTTOM Operators

    - by smisner
    Thus far in this series, I have described using the IN operator and the LIKE operator. Today, I’ll continue the series by reviewing the TOP and BOTTOM operators. Today, I happened to be working on an example of using the TOP N operator and was not successful on my first try because the behavior is just a bit different than we find when using an “equals” comparison as I described in my first post in this series. In my example, I wanted to display a list of the top 5 resellers in the United States for AdventureWorks, but I wanted it based on a filter. I started with a hard-coded filter like this: Expression Data Type Operator Value [ResellerSalesAmount] Float Top N 5 And received the following error: A filter value in the filter for tablix 'Tablix1' specifies a data type that is not supported by the 'TopN' operator. Verify that the data type for each filter value is Integer. Well, that puzzled me. Did I really have to convert ResellerSalesAmount to an integer to use the Top N operator? Just for kicks, I switched to the Top % operator like this: Expression Data Type Operator Value [ResellerSalesAmount] Float Top % 50 This time, I got exactly the results I expected – I had a total of 10 records in my dataset results, so 50% of that should yield 5 rows in my tablix. So thinking about the problem with Top N some  more, I switched the Value to an expression, like this: Expression Data Type Operator Value [ResellerSalesAmount] Float Top N =5 And it worked! So the value for Top N or Top % must reflect a number to plug into the calculation, such as Top 5 or Top 50%, and the expression is the basis for determining what’s in that group. In other words, Reporting Services will sort the rows by the expression – ResellerSalesAmount in this case – in descending order, and then filter out everything except the topmost rows based on the operator you specify. The curious thing is that, if you’re going to hard-code the value, you must enter the value for Top N with an equal sign in front of the integer, but you can omit the equal sign when entering a hard-coded value for Top %. This experience is why working with Reporting Services filters is not always intuitive! When you use a report parameter to set the value, you won’t have this problem. Just be sure that the data type of the report parameter is set to Integer. Jessica Moss has an example of using a Top N filter in a tablix which you can view here. Working with Bottom N and Bottom % works similarly. You just provide a number for N or for the percentage and Reporting Services works from the bottom up to determine which rows are kept and which are excluded.

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  • How to make a stack stable? Need help for an explicit resting contact scheme (2-dimensional)

    - by Register Sole
    Previously, I struggle with the sequential impulse-based method I developed. Thanks to jedediah referring me to this paper, I managed to rebuild the codes and implement the simultaneous impulse based method with Projected-Gauss-Seidel (PGS) iterative solver as described by Erin Catto (mentioned in the reference of the paper as [Catt05]). So here's how it currently is: The simulation handles 2-dimensional rotating convex polygons. Detection is using separating-axis test, with a SKIN, meaning closest points between two polygons is detected and determined if their distance is less than SKIN. To resolve collision, simultaneous impulse-based method is used. It is solved using iterative solver (PGS-solver) as in Erin Catto's paper. Error-correction is implemented using Baumgarte's stabilization (you can refer to either paper for this) using J V = beta/dt*overlap, J is the Jacobian for the constraints, V the matrix containing the velocities of the bodies, beta an error-correction parameter that is better be < 1, dt the time-step taken by the engine, and overlap, the overlap between the bodies (true overlap, so SKIN is ignored). However, it is still less stable than I expected :s I tried to stack hexagons (or squares, doesn't really matter), and even with only 4 to 5 of them, they would swing! Also note that I am not looking for a sleeping scheme. But I would settle if you have any explicit scheme to handle resting contacts. That said, I would be more than happy if you have a way of treating it generally (as continuous collision, instead of explicitly as a special state). Ideas I have tried: Using simultaneous position based error correction as described in the paper in section 5.3.2, turned out to be worse than the current scheme. If you want to know the parameters I used: Hexagons, side 50 (pixels) gravity 2400 (pixels/sec^2) time-step 1/60 (sec) beta 0.1 restitution 0 to 0.2 coeff. of friction 0.2 PGS iteration 10 initial separation 10 (pixels) mass 1 (unit is irrelevant for now, i modified velocity directly<-impulse method) inertia 1/1000 Thanks in advance! I really appreciate any help from you guys!! :) EDIT In response to Cholesky's comment about warm starting the solver and Baumgarte: Oh right, I forgot to mention! I do save the contact history and the impulse determined in this time step to be used as initial guess in the next time step. As for the Baumgarte, here's what actually happens in the code. Collision is detected when the bodies' closest distance is less than SKIN, meaning they are actually still separated. If at this moment, I used the PGS solver without Baumgarte, restitution of 0 alone would be able to stop the bodies, separated by a distance of ~SKIN, in mid-air! So this isn't right, I want to have the bodies touching each other. So I turn on the Baumgarte, where its role is actually to pull the bodies together! Weird I know, a scheme intended to push the body apart becomes useful for the reverse. Also, I found that if I increase the number of iteration to 100, stacks become much more stable, though the program becomes so slow. UPDATE Since the stack swings left and right, could it be something is wrong with my friction model? Current friction constraint: relative_tangential_velocity = 0

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