bool Box2d<Type>::Intersecte
(
const cElTriangleComp & aTri
) const
{
if (
contains(aTri.P0() )
|| contains(aTri.P1() )
|| contains(aTri.P2() )
)
return true;
Pt2d<Type> Corn[4];
Corners(Corn);
for (INT aK=0 ; aK<4 ; aK++)
if (aTri.Inside(ToPt2dr(Corn[aK])))
return true;
if (
Intersecte(aTri.S01())
|| Intersecte(aTri.S12())
|| Intersecte(aTri.S20())
)
return true;
return false;
}
FCE_AxisAlignedBoundingBox FCE_AxisAlignedBoundingBox::Transform( const D3DXMATRIX* pMat ){
D3DXVECTOR3 pCorners[8];
Corners(pCorners);
FCE_AxisAlignedBoundingBox ret;
for( int iCorner = 0; iCorner < 8; ++iCorner ){
D3DXVECTOR3 transformed;
D3DXVec3TransformCoord( &transformed, &(pCorners[iCorner]), pMat );
ret.AddPoints(1, &transformed );
}
return ret;
}
Box Box::Transform(glm::mat4 transformation) const
{
Box newBoundingBox;
std::vector<glm::vec3> corners;
Corners(corners);
for (size_t i = 0; i < corners.size(); ++i) {
glm::vec3 transformedCorner = glm::vec3(transformation * glm::vec4(corners[i], 1.f));
newBoundingBox.minVertex = glm::min(transformedCorner, newBoundingBox.minVertex);
newBoundingBox.maxVertex = glm::max(transformedCorner, newBoundingBox.maxVertex);
}
return newBoundingBox;
}
Box2d<double> Box2d<Type>::BoxImage(const cElMap2D & aMap) const
{
Pt2d<Type> aC4[4];
Corners(aC4);
Pt2dr aP0=aMap(ToPt2dr(aC4[0]));
Pt2dr aP1= aP0;
for (int aK=1 ; aK<4 ; aK++)
{
aP0.SetInf(aMap(ToPt2dr(aC4[aK])));
aP1.SetSup(aMap(ToPt2dr(aC4[aK])));
}
return Box2d<double>(aP0,aP1);
}
void Box2d<Type>::PtsDisc(std::vector<Pt2dr> & aV,INT aNbPts)
{
aV.clear();
Pt2d<Type> aVCorn[4];
Corners(aVCorn);
for (INT aKC=0 ; aKC<4 ; aKC++)
{
Pt2dr aC0 = ToPt2dr(aVCorn[aKC]);
Pt2dr aC1 = ToPt2dr(aVCorn[(aKC+1)%4]);
// for (INT aKP=0 ; aKP<= aNbPts ; aKP++)
for (INT aKP=0 ; aKP< aNbPts ; aKP++) // Modif MPD
{
REAL aPds = (aNbPts-aKP) /REAL(aNbPts);
aV.push_back(barry(aPds,aC0,aC1));
}
}
}
std::vector<Pt2d<Type> > Box2d<Type>::Contour() const
{
Pt2d<Type> aP4[4];
Corners(aP4);
return std::vector<Pt2d<Type> >(aP4,aP4+4);
}
ImageCommand::ImageCommand(pp::VarDictionary message) {
int width = 0;
int height = 0;
//initialise command variable
if (message.HasKey("command")) {
if (!message.Get("command").is_string()) throw InvalidCmdException("Command key 'command' is not a string!");
command = message.Get("command").AsString();
} else throw InvalidCmdException("Command key 'command' doesn't exist!");
//initialise all image properties into variables
if (message.HasKey("image")) {
if (!message.Get("image").is_dictionary()) throw InvalidCmdException("Command key 'image' is not a Dictionary/Object!");
pp::VarDictionary imgDict(message.Get("image"));
//initialise corners variable
if (imgDict.HasKey("corners")) {
if (!imgDict.Get("corners").is_dictionary()) throw InvalidCmdException("Command key 'command' is not a Dictionary/Object!");
corners = Corners(pp::VarDictionary(imgDict.Get("corners")));
} else throw InvalidCmdException("Command key 'corners' doesn't exist!");
//initialise hash variable - changed to unique id
if (imgDict.HasKey("id")) {
if (imgDict.Get("id").is_double()) {
id = round(imgDict.Get("id").AsDouble());
} else if (imgDict.Get("id").is_int()) {
id = imgDict.Get("id").AsInt();
} else throw InvalidCmdException("Command key 'id' is not a number!");
} else throw InvalidCmdException("Command key 'id' doesn't exist!");
if (imgDict.HasKey("number")) {
if (imgDict.Get("number").is_double()) {
number = round(imgDict.Get("number").AsDouble());
} else if (imgDict.Get("number").is_int()) {
number = imgDict.Get("number").AsInt();
} else throw InvalidCmdException("Command key 'number' is not a number!");
} else throw InvalidCmdException("Command key 'number' doesn't exist!");
if (imgDict.HasKey("width")) {
if (imgDict.Get("width").is_double()) {
width = round(imgDict.Get("width").AsDouble());
} else if (imgDict.Get("width").is_int()) {
width = imgDict.Get("width").AsInt();
} else throw InvalidCmdException("Command key 'width' is not a number!");
} else throw InvalidCmdException("Command key 'width' doesn't exist!");
if (imgDict.HasKey("height")) {
if (imgDict.Get("height").is_double()) {
height = round(imgDict.Get("height").AsDouble());
} else if (imgDict.Get("height").is_int()) {
height = imgDict.Get("height").AsInt();
} else throw InvalidCmdException("Command key 'height' is not a number!");
} else throw InvalidCmdException("Command key 'height' doesn't exist!");
if (imgDict.HasKey("data")) {
if (!imgDict.Get("data").is_array_buffer()) throw InvalidCmdException("Command key 'data' is not an ArrayBuffer!");
pp::VarArrayBuffer arrBuf(imgDict.Get("data"));
void* data = arrBuf.Map(); //get pointer to start of contiguous bytes (array);
//If the pp::VarDictionary goes completely out of scope, array will likely be deallocated!
image = cv::Mat(height, width, CV_8UC4, data); //accepts rows, cols instead of width, height
//ArrayBuffer from HTML5 Canvas is RGBA, so 4 channels, 8bit unsigned each
} else throw InvalidCmdException("Command key 'data' doesn't exist!");
} else throw InvalidCmdException("Command key 'image' doesn't exist!");
}
