void kgmMesh::rebound()
{
m_bound = box3();
if(!m_vertices)
return;
u8 *v = (u8*) m_vertices;
vec3 max = ((Vertex*)v)->pos,
min = ((Vertex*)v)->pos;
u32 i = 0;
u32 size = vsize();
for(i = 1; i < m_vcount; i++)
{
v += size;
min.x = MIN(min.x, ((Vertex*)v)->pos.x);
min.y = MIN(min.y, ((Vertex*)v)->pos.y);
min.z = MIN(min.z, ((Vertex*)v)->pos.z);
max.x = MAX(max.x, ((Vertex*)v)->pos.x);
max.y = MAX(max.y, ((Vertex*)v)->pos.y);
max.z = MAX(max.z, ((Vertex*)v)->pos.z);
}
m_bound.min = min;
m_bound.max = max;
}
void Octree::split()
{
float subX = bounds.cent.x;
float subY = bounds.cent.y;
float subZ = bounds.cent.z;
Moo::Vector3D halfD = bounds.cent - bounds.min;
int nextLevel = level + 1;
//lower layer cells(0-3)
Moo::BoundingBox box0(bounds.min, bounds.cent);
std::shared_ptr<Octree> oct0 = std::make_shared<Octree>(nextLevel, box0, &*this, this->cr);
Moo::Vector3D box1Min(bounds.min.x, bounds.min.y, bounds.cent.z);
Moo::Vector3D box1Max = box1Min + halfD;
Moo::BoundingBox box1(box1Min, box1Max);
std::shared_ptr<Octree> oct1 = std::make_shared<Octree>(nextLevel, box1, &*this, this->cr);
Moo::Vector3D box2Min(bounds.cent.x, bounds.min.y, bounds.cent.z);
Moo::Vector3D box2Max = box2Min + halfD;
Moo::BoundingBox box2(box2Min, box2Max);
std::shared_ptr<Octree> oct2 = std::make_shared<Octree>(nextLevel, box2, &*this, this->cr);
Moo::Vector3D box3Min(bounds.cent.x, bounds.min.y, bounds.min.z);
Moo::Vector3D box3Max = box3Min + halfD;
Moo::BoundingBox box3(box3Min, box3Max);
std::shared_ptr<Octree> oct3 = std::make_shared<Octree>(nextLevel, box3, &*this, this->cr);
//upper layer cells(4-7)
Moo::Vector3D box4Min(bounds.min.x, bounds.cent.y, bounds.min.z);
Moo::Vector3D box4Max = box4Min + halfD;
Moo::BoundingBox box4(box4Min, box4Max);
std::shared_ptr<Octree> oct4 = std::make_shared<Octree>(nextLevel, box4, &*this, this->cr);
Moo::Vector3D box5Min(bounds.min.x, bounds.cent.y, bounds.cent.z);
Moo::Vector3D box5Max = box5Min + halfD;
Moo::BoundingBox box5(box5Min, box5Max);
std::shared_ptr<Octree> oct5 = std::make_shared<Octree>(nextLevel, box5, &*this, this->cr);
Moo::Vector3D box6Min = bounds.cent;
Moo::Vector3D box6Max = bounds.max;
Moo::BoundingBox box6(box6Min, box6Max);
std::shared_ptr<Octree> oct6 = std::make_shared<Octree>(nextLevel, box6, &*this, this->cr);
Moo::Vector3D box7Min(bounds.cent.x, bounds.cent.y, bounds.min.z);
Moo::Vector3D box7Max = box7Min + bounds.cent;
Moo::BoundingBox box7(box7Min, box7Max);
std::shared_ptr<Octree> oct7 = std::make_shared<Octree>(nextLevel, box7, &*this, this->cr);
childNode[0] = oct0;
childNode[1] = oct1;
childNode[2] = oct2;
childNode[3] = oct3;
childNode[4] = oct4;
childNode[5] = oct5;
childNode[6] = oct6;
childNode[7] = oct7;
}
kgmMesh::kgmMesh()
{
m_vertices = null;
m_faces = null;
m_vcount = m_fcount = 0;
m_fvf = m_fff = 0;
m_rtype = RT_TRIANGLE;
m_group = 0;
m_bound = box3();
m_normal = vec3(0, 0, 0);
}
kgmMesh::kgmMesh()
{
m_vertices = null;
m_faces = null;
m_maps = null;
m_vcount = m_fcount = 0;
m_fvf = m_fff = 0;
m_rtype = RT_TRIANGLE;
m_group = 0;
m_bound = box3();
}
bool csTerrainFactorySaver::WriteDown (iBase* obj, iDocumentNode* parent,
iStreamSource*)
{
if (!parent) return false; //you never know...
csRef<iDocumentNode> paramsNode = parent->CreateNodeBefore(CS_NODE_ELEMENT, 0);
paramsNode->SetValue("params");
if (obj)
{
csRef<iTerrainFactoryState> tfact =
scfQueryInterface<iTerrainFactoryState> (obj);
csRef<iMeshObjectFactory> meshfact =
scfQueryInterface<iMeshObjectFactory> (obj);
if (!tfact) return false;
if (!meshfact) return false;
// Write plugin
csRef<iDocumentNode> pluginNode =
paramsNode->CreateNodeBefore(CS_NODE_ELEMENT, 0);
pluginNode->SetValue("plugin");
csRef<iFactory> factory =
scfQueryInterface<iFactory> (meshfact->GetMeshObjectType());
const char* pluginname = factory->QueryClassID();
if (!(pluginname && *pluginname)) return false;
pluginNode->CreateNodeBefore(CS_NODE_TEXT, 0)->SetValue (pluginname);
// Write terraformer
csRef<iDocumentNode> terraFormerNode =
paramsNode->CreateNodeBefore(CS_NODE_ELEMENT, 0);
terraFormerNode->SetValue("terraformer");
const char* terraformer = tfact->GetTerraFormer ()->QueryObject ()->GetName ();
terraFormerNode->CreateNodeBefore(CS_NODE_TEXT, 0)->SetValue (terraformer);
// Write sampleregion
csRef<iDocumentNode> sampleRegionNode =
paramsNode->CreateNodeBefore(CS_NODE_ELEMENT, 0);
sampleRegionNode->SetValue("sampleregion");
csBox2 box = tfact->GetSamplerRegion ();
csBox3 box3 (box.MinX(), box.MinY(), 0, box.MaxX(), box.MaxY(), 0);
synldr->WriteBox (sampleRegionNode, box3);
}
return true;
}
int main()
{
Scene scene("scene");
PlyBox<VertexType> box1("box1", VertexType(0., 0., 0.), 1., 1., 1.);
PlyBox<VertexType> box2("box2", VertexType(1.5, 1.5, 0.), 0.5, 0.5, 0.5);
PlyBox<VertexType> box3("box3", VertexType(0., 2., 0.), 1., 5., 1.);
PlyBox<VertexType> box4("box4", VertexType(0., -1., 0.), 1., -5., 1.);
scene.add(&box1); scene.add(&box2); scene.add(&box3); scene.add(&box4);
PlyWriter writer("test_PlyBox_output.ply");
writer.write(scene);
writer.close();
return 0;
}
bool PhysicElement::collision(PhysicElement& elem1, PhysicElement& elem2) {
Box box1(elem1._pos.x, elem1._pos.y, elem1._size.x - 0.01, elem1._size.y - 0.01, elem1._rotation);
Box box2(elem2._pos.x, elem2._pos.y, elem2._size.x - 0.01, elem2._size.y - 0.01, elem2._rotation);
return Box::simpleCollision(box1, box2);
box2.rotate(box1);
if(!Box::simpleCollision(box1,*box2.out))
return false;
Box box3(elem2._pos.x, elem2._pos.y, elem2._size.x, elem2._size.y, elem2._rotation);
box1.rotate(box3);
if(!Box::simpleCollision(*box1.out,box3))
return false;
return true;
}
void AABoxContainTest::testIsInVolumeAABox()
{
// Test valid box against empty box
gmtl::AABoxf empty;
gmtl::AABoxf box(gmtl::Point3f(-1,-1,-1), gmtl::Point3f(1,1,1));
CPPUNIT_ASSERT(! gmtl::isInVolume(empty, box));
CPPUNIT_ASSERT(! gmtl::isInVolume(box, empty));
// Test non-overlapping valid boxes
gmtl::AABoxf box2(gmtl::Point3f(30,30,30), gmtl::Point3f(40,40,40));
CPPUNIT_ASSERT(! gmtl::isInVolume(box, box2));
CPPUNIT_ASSERT(! gmtl::isInVolume(box2, box));
// Test overlapping valid boxes
gmtl::AABoxf box3(gmtl::Point3f(35,35,35), gmtl::Point3f(37,37,37));
CPPUNIT_ASSERT(gmtl::isInVolume(box2, box3));
CPPUNIT_ASSERT(! gmtl::isInVolume(box3, box2));
// Test valid box against itself
CPPUNIT_ASSERT(gmtl::isInVolume(box, box));
}
void product::appm(product s1)
{
int b=0,c=0;
float a=0;
int x1=240;
int y1=382;
char deflt[80];
char yy[80];
prno=s1.no();
s1.retname(yy);
int col=getcolor();
setcolor(4);
outtextxy(x1,302,"TO RETAIN DATA PRESS esc");
setcolor(col);
outtextxy(x1,322,"New Name?");
c=textbox3(deflt,x1,342);
if(c==1)
{
strcpy(name,yy);
}
else
{
strcpy(name,deflt);
}
outtextxy(x1,362,"New Price?");
b=box3(a,x1,y1);
if(b==1)
{
price=s1.retprice();
}
else
{
price=a;
}
outtextxy(x1,402,"ok?");
}
TEST(BoundingBox, constructors) {
typedef BoundingBox::Point Point;
BoundingBox box; //default
BoundingBox box1( Point(" 1 2 3"), Point("3 4 5") ); // basic constructor
EXPECT_TRUE( arma::min( box1.min() == Point("1 2 3") ) );
EXPECT_TRUE( arma::min( box1.max() == Point("3 4 5") ) );
BoundingBox box2( box1); // Copy
EXPECT_TRUE( arma::min( box2.min() == Point("1 2 3") ) );
EXPECT_TRUE( arma::min( box2.max() == Point("3 4 5") ) );
vector<Point> b_list = {
Point("3 3 3"),
Point("1 4 5"),
Point("2 -10 4")
};
BoundingBox box3(b_list);
EXPECT_TRUE( arma::min( box3.min() == Point("1 -10 3") ) );
EXPECT_TRUE( arma::min( box3.max() == Point("3 4 5") ) );
}
Sivia::Sivia(repere& R, struct sivia_struct *par) : R(R) {
par->area = 0;
// Create the function we want to apply SIVIA on.
Variable x,y;
double ei = par->ei;
double xb=par->xb1,yb=par->yb1;
Interval xbi=Interval(par->xb1-ei,par->xb1+ei),ybi=Interval(par->yb1-ei,par->yb1+ei);
double arc = par->sonar_arc;
double r = pow(par->sonar_radius,2);
double th1 = par->th[0];
double th2=th1+arc;
double th21= par->th[1];
double th22=th21 + arc;
double th31= par->th[2];
double th32=th31 + arc;
double e=1;
double epsilon = par->epsilon;
double xin,yin;
// First SONAR
Function f(x,y,sqr(x-xbi)+sqr(y-ybi));
NumConstraint c1(x,y,f(x,y)<=r+e);
NumConstraint c2(x,y,f(x,y)>=e);
NumConstraint c3(x,y,f(x,y)>r+e);
NumConstraint c4(x,y,f(x,y)<e);
double sign1,sign2;
if(cos(th1)>0) sign1=1;
else sign1=-1;
if(cos(th2)<0) sign2=1;
else sign2=-1;
NumConstraint cth11(x,y,sign1*(y-ybi-((sin(th1))/(cos(th1)))*(x-xbi))<0);
NumConstraint cth12(x,y,sign1*(y-ybi-((sin(th1))/(cos(th1)))*(x-xbi))>0);
NumConstraint cth21(x,y,sign2*(y-ybi-((sin(th2))/(cos(th2)))*(x-xbi))<0);
NumConstraint cth22(x,y,sign2*(y-ybi-((sin(th2))/(cos(th2)))*(x-xbi))>0);
// Create contractors with respect to each
// of the previous constraints.
CtcFwdBwd out1(c1);
CtcFwdBwd out2(c2);
CtcFwdBwd in1(c3);
CtcFwdBwd in2(c4);
CtcFwdBwd outth1(cth12);
CtcFwdBwd inth1(cth11);
CtcFwdBwd inth2(cth21);
CtcFwdBwd outth2(cth22);
// CtcIn inside(f,Interval(-1,1));
// CtcNotIn outside(f,Interval(-1,1));
// Create a contractor that removes all the points
// that do not satisfy either f(x,y)<=2 or f(x,y)>=0.
// These points are "outside" of the solution set.
CtcCompo outside1(out1,out2,outth1,outth2);
// Create a contractor that removes all the points
// that do not satisfy both f(x,y)>2 or f(x,y)<0.
// These points are "inside" the solution set.
CtcUnion inside11(in1,in2,inth1);
CtcUnion inside1(inside11,inth2);
// Second SONAR
double xb2=par->xb2,yb2=par->yb2;
Interval xb2i=Interval(par->xb2-ei,par->xb2+ei),yb2i=Interval(par->yb2-ei,par->yb2+ei);
Function f2(x,y,sqr(x-xb2i)+sqr(y-yb2i));
NumConstraint c21(x,y,f2(x,y)<=r+e);
NumConstraint c22(x,y,f2(x,y)>=e);
NumConstraint c23(x,y,f2(x,y)>r+e);
NumConstraint c24(x,y,f2(x,y)<e);
double sign21,sign22;
if(cos(th21)>0) sign21=-1;
else sign21=1;
if(cos(th22)<0) sign22=1;
else sign22=-1;
NumConstraint cth211(x,y,sign21*(y-yb2i-((sin(th21))/(cos(th21)))*(x-xb2i))<0);
NumConstraint cth212(x,y,sign21*(y-yb2i-((sin(th21))/(cos(th21)))*(x-xb2i))>0);
NumConstraint cth221(x,y,sign22*(y-yb2i-((sin(th22))/(cos(th22)))*(x-xb2i))<0);
NumConstraint cth222(x,y,sign22*(y-yb2i-((sin(th22))/(cos(th22)))*(x-xb2i))>0);
// Create contractors with respect to each
// of the previous constraints.
CtcFwdBwd out21(c21);
CtcFwdBwd out22(c22);
CtcFwdBwd in21(c23);
CtcFwdBwd in22(c24);
CtcFwdBwd outth21(cth211);
CtcFwdBwd inth21(cth212);
CtcFwdBwd inth22(cth221);
CtcFwdBwd outth22(cth222);
// CtcIn inside(f,Interval(-1,1));
// CtcNotIn outside(f,Interval(-1,1));
// Create a contractor that removes all the points
// that do not satisfy either f(x,y)<=2 or f(x,y)>=0.
// These points are "outside" of the solution set.
CtcCompo outside2(out21,out22,outth21,outth22);
// Create a contractor that removes all the points
// that do not satisfy both f(x,y)>2 or f(x,y)<0.
// These points are "inside" the solution set.
CtcUnion inside21(in21,in22,inth21);
CtcUnion inside2(inside21,inth22);
//Third SONAR
double xb3=par->xb3,yb3=par->yb3;
Interval xb3i=Interval(par->xb3-ei,par->xb3+ei),yb3i=Interval(par->yb3-ei,par->yb3+ei);
Function f3(x,y,sqr(x-xb3i)+sqr(y-yb3i));
NumConstraint c31(x,y,f3(x,y)<=r+e);
NumConstraint c32(x,y,f3(x,y)>=e);
NumConstraint c33(x,y,f3(x,y)>r+e);
NumConstraint c34(x,y,f3(x,y)<e);
double sign31,sign32;
if(cos(th31)>0) sign31=-1;
else sign31=1;
if(cos(th32)<0) sign32=1;
else sign32=-1;
NumConstraint cth311(x,y,sign31*(y-yb3i-((sin(th31))/(cos(th31)))*(x-xb3i))<0);
NumConstraint cth312(x,y,sign31*(y-yb3i-((sin(th31))/(cos(th31)))*(x-xb3i))>0);
NumConstraint cth321(x,y,sign32*(y-yb3i-((sin(th32))/(cos(th32)))*(x-xb3i))<0);
NumConstraint cth322(x,y,sign32*(y-yb3i-((sin(th32))/(cos(th32)))*(x-xb3i))>0);
// Create contractors with respect to each
// of the previous constraints.
CtcFwdBwd out31(c31);
CtcFwdBwd out32(c32);
CtcFwdBwd in31(c33);
CtcFwdBwd in32(c34);
CtcFwdBwd outth31(cth311);
CtcFwdBwd inth31(cth312);
CtcFwdBwd inth32(cth321);
CtcFwdBwd outth32(cth322);
// CtcIn inside(f,Interval(-1,1));
// CtcNotIn outside(f,Interval(-1,1));
// Create a contractor that removes all the points
// that do not satisfy either f(x,y)<=2 or f(x,y)>=0.
// These points are "outside" of the solution set.
CtcCompo outside3(out31,out32,outth31,outth32);
// Create a contractor that removes all the points
// that do not satisfy both f(x,y)>2 or f(x,y)<0.
// These points are "inside" the solution set.
CtcUnion inside31(in31,in32,inth31);
CtcUnion inside3(inside31,inth32);
//CtcQInter inter(inside,1);
//Artifact MODELISATION
double xa = par->xa;
double ya = par->ya;
double ra = par->ra;
Function f_a(x,y,sqr(x-xa)+sqr(y-ya));
NumConstraint ca1(x,y,f_a(x,y)<=sqr(ra));
NumConstraint ca2(x,y,f_a(x,y)>=sqr(ra)-par->thick);
NumConstraint ca3(x,y,f_a(x,y)>sqr(ra));
NumConstraint ca4(x,y,f_a(x,y)<sqr(ra)-par->thick);
CtcFwdBwd aout1(ca1);
CtcFwdBwd aout2(ca2);
CtcFwdBwd ain1(ca3);
CtcFwdBwd ain2(ca4);
CtcUnion ain(ain1,ain2);
CtcCompo aout(aout1,aout2);
//Robot MODELISATION
double xr = par->xr; //robot position x
double yr = par->yr; //robot position y
double wr = par->wr; //robot width
double lr = par->lr; //robot length
double ep = par->thick;
xr = par->xr - wr/2;
NumConstraint inrx1(x,y,x>xr+ep);
NumConstraint outrx1(x,y,x<xr+ep);
NumConstraint inrx2(x,y,x<xr-ep);
NumConstraint outrx2(x,y,x>xr-ep);
NumConstraint inry1(x,y,y<yr-lr/2);
NumConstraint outry1(x,y,y>yr-lr/2);
NumConstraint inry2(x,y,y>yr+lr/2);
NumConstraint outry2(x,y,y<yr+lr/2);
CtcFwdBwd incrx1(inrx1);
CtcFwdBwd incrx2(inrx2);
CtcFwdBwd incry1(inry1);
CtcFwdBwd incry2(inry2);
CtcFwdBwd outcrx1(outrx1);
CtcFwdBwd outcrx2(outrx2);
CtcFwdBwd outcry1(outry1);
CtcFwdBwd outcry2(outry2);
CtcUnion inrtemp(incrx1,incrx2,incry1);
CtcUnion inr1(inrtemp,incry2);
CtcCompo outrtemp(outcrx1,outcrx2,outcry1);
CtcCompo outr1(outrtemp,outcry2);
//2nd rectangle
xr = par->xr + wr/2;
NumConstraint inrx21(x,y,x>xr+ep);
NumConstraint outrx21(x,y,x<xr+ep);
NumConstraint inrx22(x,y,x<xr-ep);
NumConstraint outrx22(x,y,x>xr-ep);
NumConstraint inry21(x,y,y<yr-lr/2);
NumConstraint outry21(x,y,y>yr-lr/2);
NumConstraint inry22(x,y,y>yr+lr/2);
NumConstraint outry22(x,y,y<yr+lr/2);
CtcFwdBwd incrx21(inrx21);
CtcFwdBwd incrx22(inrx22);
CtcFwdBwd incry21(inry21);
CtcFwdBwd incry22(inry22);
CtcFwdBwd outcrx21(outrx21);
CtcFwdBwd outcrx22(outrx22);
CtcFwdBwd outcry21(outry21);
CtcFwdBwd outcry22(outry22);
CtcUnion inrtemp2(incrx21,incrx22,incry21);
CtcUnion inr2(inrtemp2,incry22);
CtcCompo outrtemp2(outcrx21,outcrx22,outcry21);
CtcCompo outr2(outrtemp2,outcry22);
//3nd rectangle top rectangle
yr=par->yr+par->lr/2;
xr=par->xr;
NumConstraint inrx31(x,y,x>xr+wr/2+ep);
NumConstraint outrx31(x,y,x<xr+wr/2+ep);
NumConstraint inrx32(x,y,x<xr-wr/2-ep);
NumConstraint outrx32(x,y,x>xr-wr/2-ep);
NumConstraint inry31(x,y,y<yr-ep);
NumConstraint outry31(x,y,y>yr-ep);
NumConstraint inry32(x,y,y>yr+ep);
NumConstraint outry32(x,y,y<yr+ep);
CtcFwdBwd incrx31(inrx31);
CtcFwdBwd incrx32(inrx32);
CtcFwdBwd incry31(inry31);
CtcFwdBwd incry32(inry32);
CtcFwdBwd outcrx31(outrx31);
CtcFwdBwd outcrx32(outrx32);
CtcFwdBwd outcry31(outry31);
CtcFwdBwd outcry32(outry32);
CtcUnion inrtemp3(incrx31,incrx32,incry31);
CtcUnion inr3(inrtemp3,incry32);
CtcCompo outrtemp3(outcrx31,outcrx32,outcry31);
CtcCompo outr3(outrtemp3,outcry32);
//4 rectangle bot
yr=par->yr-par->lr/2;
xr=par->xr;
NumConstraint inrx41(x,y,x>xr+wr/2+ep);
NumConstraint outrx41(x,y,x<xr+wr/2+ep);
NumConstraint inrx42(x,y,x<xr-wr/2-ep);
NumConstraint outrx42(x,y,x>xr-wr/2-ep);
NumConstraint inry41(x,y,y<yr-ep);
NumConstraint outry41(x,y,y>yr-ep);
NumConstraint inry42(x,y,y>yr+ep);
NumConstraint outry42(x,y,y<yr+ep);
CtcFwdBwd incrx41(inrx41);
CtcFwdBwd incrx42(inrx42);
CtcFwdBwd incry41(inry41);
CtcFwdBwd incry42(inry42);
CtcFwdBwd outcrx41(outrx41);
CtcFwdBwd outcrx42(outrx42);
CtcFwdBwd outcry41(outry41);
CtcFwdBwd outcry42(outry42);
CtcUnion inrtemp4(incrx41,incrx42,incry41);
CtcUnion inr4(inrtemp4,incry42);
CtcCompo outrtemp4(outcrx41,outcrx42,outcry41);
CtcCompo outr4(outrtemp4,outcry42);
CtcCompo inrtp(inr1,inr2,inr3);
CtcUnion outrtp(outr1,outr2,outr3);
CtcCompo inr(inrtp,inr4);
CtcUnion outr(outrtp,outr4);
yr = par->yr;
int maxq = 3; //nb of contractors
int Qinter = 2;
int ctcq = maxq - Qinter + 1; //nb for q-relaxed function of Ibex
Array<Ctc> inside1r1(inside1,inr,ain);
Array<Ctc> outside1r1(outside1,outr,aout);
Array<Ctc> inside2r1(inside2,inr,ain);
Array<Ctc> outside2r1(outside2,outr,aout);
Array<Ctc> inside3r1(inside3,inr,ain);
Array<Ctc> outside3r1(outside3,outr,aout);
CtcQInter outside1r(outside1r1,Qinter);
CtcQInter inside1r(inside1r1,ctcq);
CtcQInter outside2r(outside2r1,Qinter);
CtcQInter inside2r(inside2r1,ctcq);
CtcQInter outside3r(outside3r1,Qinter);
CtcQInter inside3r(inside3r1,ctcq);
// Build the initial box.
IntervalVector box(2);
box[0]=Interval(-10,10);
box[1]=Interval(-10,10);
par->vin.clear();
// Build the way boxes will be bisected.
// "LargestFirst" means that the dimension bisected
// is always the largest one.
int nbox1=0;
LargestFirst lf;
IntervalVector viinside1(2);
stack<IntervalVector> s;
s.push(box);
while (!s.empty()) {
IntervalVector box=s.top();
s.pop();
contract_and_draw(inside1r,box,viinside1,1,par,nbox1,Qt::magenta,Qt::red);
if (box.is_empty()) { continue; }
contract_and_draw(outside1r,box,viinside1,0,par,nbox1,Qt::darkBlue,Qt::cyan);
if (box.is_empty()) { continue; }
if (box.max_diam()<epsilon) {
R.DrawBox(box[0].lb(),box[0].ub(),box[1].lb(),box[1].ub(),QPen(Qt::yellow),QBrush(Qt::NoBrush));
} else {
pair<IntervalVector,IntervalVector> boxes=lf.bisect(box);
s.push(boxes.first);
s.push(boxes.second);
}
}
if(par->isinside==1){
robot_position_estimator(nbox1,par);
par->isinside1=1;
par->isinside=0;
//cout<<"area1: "<<par->area<<endl;
}
IntervalVector box2(2);
box2[0]=Interval(-10,10);
box2[1]=Interval(-10,10);
// Build the way boxes will be bisected.
// "LargestFirst" means that the dimension bisected
// is always the largest one.
int nbox2=0;
LargestFirst lf2;
IntervalVector viinside2(2);
stack<IntervalVector> s2;
s2.push(box2);
while (!s2.empty()) {
IntervalVector box2=s2.top();
s2.pop();
contract_and_draw(inside2r,box2,viinside2,2,par,nbox2,Qt::magenta,Qt::red);
if (box2.is_empty()) { continue; }
contract_and_draw(outside2r,box2,viinside2,0,par,nbox2,Qt::darkBlue,Qt::cyan);
if (box2.is_empty()) { continue; }
if (box2.max_diam()<epsilon) {
R.DrawBox(box2[0].lb(),box2[0].ub(),box2[1].lb(),box2[1].ub(),QPen(Qt::yellow),QBrush(Qt::NoBrush));
} else {
pair<IntervalVector,IntervalVector> boxes2=lf2.bisect(box2);
s2.push(boxes2.first);
s2.push(boxes2.second);
}
}
if(par->isinside==1){
robot_position_estimator(nbox2,par);
par->isinside2=1;
par->isinside=0;
//cout<<"area2: "<<par->area<<endl;
}
IntervalVector box3(2);
box3[0]=Interval(-10,10);
box3[1]=Interval(-10,10);
// Build the way boxes will be bisected.
// "LargestFirst" means that the dimension bisected
// is always the largest one.
int nbox3=0;
LargestFirst lf3;
IntervalVector viinside3(2);
stack<IntervalVector> s3;
s3.push(box3);
while (!s3.empty()) {
IntervalVector box3=s3.top();
s3.pop();
contract_and_draw(inside3r,box3,viinside3,3,par,nbox3,Qt::magenta,Qt::red);
if (box3.is_empty()) { continue; }
contract_and_draw(outside3r,box3,viinside3,0,par,nbox3,Qt::darkBlue,Qt::cyan);
if (box3.is_empty()) { continue; }
if (box3.max_diam()<epsilon) {
R.DrawBox(box3[0].lb(),box3[0].ub(),box3[1].lb(),box3[1].ub(),QPen(Qt::yellow),QBrush(Qt::NoBrush));
} else {
pair<IntervalVector,IntervalVector> boxes3=lf3.bisect(box3);
s3.push(boxes3.first);
s3.push(boxes3.second);
}
}
if(par->isinside==1){
robot_position_estimator(nbox3,par);
par->isinside3=1;
par->isinside=0;
//cout<<"area3: "<<par->area<<endl;
}
par->state.clear();
if (par->isinside1 ==1 || par->isinside2 ==1 || par->isinside3 ==1){
double *aimth = new double[3];
aimth[0] = get_angle(xb,yb,par->xin,par->yin)+M_PI ;
aimth[1] = get_angle(xb2,yb2,par->xin,par->yin)+M_PI;
aimth[2] = get_angle(xb3,yb3,par->xin,par->yin)+M_PI;
R.DrawLine(xb,yb,xb+r*cos(aimth[0]),yb+r*sin(aimth[0]),QPen(Qt::red));
R.DrawLine(xb2,yb2,xb2+r*cos(aimth[1]),yb2+r*sin(aimth[1]),QPen(Qt::red));
R.DrawLine(xb3,yb3,xb3+r*cos(aimth[2]),yb3+r*sin(aimth[2]),QPen(Qt::red));
par->state = std::string("found");
double kp = par->kp;
double u[3];
for (int i=0;i<3;i++){
u[i] = -kp*atan(tan((par->th[i] - (aimth[i] - arc/2.0 ))/2));
if(u[i]>par->sonar_speed) par->th[i] += par->sonar_speed;
if(u[i]<-par->sonar_speed) par->th[i] += -par->sonar_speed;
else par->th[i] += u[i];
}
// for (int i=0;i<3;i++){
// u[i] = atan(tan((par->th[i] - (aimth[i] - arc/2.0 ))/2));
// par->th[i] -=u[i];
// }
}
r = sqrt(r);
//cout<<"th1"<<th1<<endl;
R.DrawEllipse(xb,yb,par->ei,QPen(Qt::black),QBrush(Qt::NoBrush));
R.DrawEllipse(xb2,yb2,par->ei,QPen(Qt::black),QBrush(Qt::NoBrush));
R.DrawEllipse(xb3,yb3,par->ei,QPen(Qt::black),QBrush(Qt::NoBrush));
R.DrawLine(xb,yb,xb+r*cos(th2),yb+r*sin(th2),QPen(Qt::green));
R.DrawLine(xb2,yb2,xb2+r*cos(th22),yb2+r*sin(th22),QPen(Qt::green));
R.DrawLine(xb3,yb3,xb3+r*cos(th32),yb3+r*sin(th32),QPen(Qt::green));
R.DrawLine(xb,yb,xb+r*cos(th1),yb+r*sin(th1),QPen(Qt::green));
R.DrawLine(xb2,yb2,xb2+r*cos(th21),yb2+r*sin(th21),QPen(Qt::green));
R.DrawLine(xb3,yb3,xb3+r*cos(th31),yb3+r*sin(th31),QPen(Qt::green));
R.DrawEllipse(par->xa,par->ya,par->ra,QPen(Qt::black),QBrush(Qt::NoBrush));
R.DrawRobot(xr-wr/2,yr+lr/2,-3.14/2,wr,lr);
R.Save("paving");
par->vin.clear();
}
Polygon::Polygon(const BOX2D& box) : m_ctx(GlobalEnvironment::get().geos().ctx)
{
BOX3D box3(box.minx, box.miny, 0.0,
box.maxx, box.maxy, 0.0);
initializeFromBounds(box3);
}
Polygon::Polygon(const BOX2D& box) : Geometry ()
{
BOX3D box3(box.minx, box.miny, 0.0,
box.maxx, box.maxy, 0.0);
initializeFromBounds(box3);
}
void LevelMap::Initialize()
{
Objects.resize(20);
ObjectsM.resize(21);
//Objects Loading
Objects[0].LoadFromFile("data/models/Level_1/Working texture/Mountain2/MountnN14_3ds.3ds");
Objects[1].LoadFromFile("data/models/Level_1/Working texture/Stable/Stable.3ds");
Objects[2].LoadFromFile("data/models/Level_1/Working texture/House3/polHouse1.3ds");
Objects[3].LoadFromFile("data/models/Level_1/Working texture/House8/3ds file.3ds");
Objects[4].LoadFromFile("data/models/Level_1/Working texture/House4/fachwerk40T.3ds");
Objects[5].LoadFromFile("data/models/Level_1/Working texture/Jeep/Jeep.3ds");
Objects[6].LoadFromFile("data/models/Level_1/Working texture/Tent/Tent yurt N231013.3ds");
Objects[7].LoadFromFile("data/models/Level_1/Working texture/Wagen/wagen1_Lp_End.3ds");
Objects[8].LoadFromFile("data/models/Level_1/Working texture/Tree4/dead_trees.3ds");
for (int i = 0; i < 9; i++){
Objects[i].Initialize();
}
//setting bounding Boxes
for (int i = 1; i < 9; i++)
{
Objects[i].SetBoundingBox(CollidableModel::CalculateBoundingBox(Objects[i].GetVertices()));
}
ObjectsM[0] = glm::mat4(1);
ObjectsM[1] = glm::translate(5.5f, -0.2f, -4.3f) *glm::rotate(270.0f, 0.0f, 1.0f, 0.0f) *glm::scale(0.003f, 0.003f, 0.003f);
auto tempBox = Objects[1].GetBoundingBox();
tempBox.Scale(0.003f, 0.003f, 0.003f);
tempBox.Rotate(270.0f, 0.0f, 1.0f, 0.0f);
tempBox.Translate(5.5f, -0.2f, -4.3f);
Objects[1].SetBoundingBox(tempBox);
ObjectsM[2] = glm::translate(5.5f, -0.2f, 0.0f) *glm::rotate(270.0f, 0.0f, 1.0f, 0.0f) *glm::scale(0.03f, 0.03f, 0.03f);
tempBox = Objects[2].GetBoundingBox();
tempBox.Scale(0.03f, 0.03f, 0.03f);
tempBox.Rotate(270.0f, 0.0f, 1.0f, 0.0f);
tempBox.Translate(5.5f, -0.2f, 0.0f);
Objects[2].SetBoundingBox(tempBox);
ObjectsM[3] = glm::translate(-2.9f, -0.2f, -3.4f) *glm::rotate(90.0f, 0.0f, 1.0f, 0.0f) *glm::scale(0.06f, 0.06f, 0.06f);
tempBox = Objects[3].GetBoundingBox();
tempBox.Scale(0.06f, 0.06f, 0.06f);
tempBox.Rotate(90.0f, 0.0f, 1.0f, 0.0f);
tempBox.Translate(-2.9f, -0.2f, -3.4f);
Objects[3].SetBoundingBox(tempBox);
ObjectsM[4] = glm::translate(1.7f, -0.2f, 5.0f) *glm::rotate(270.0f, 0.0f, 1.0f, 0.0f) *glm::scale(0.18f, 0.18f, 0.18f);
tempBox = Objects[4].GetBoundingBox();
tempBox.Scale(0.18f, 0.18f, 0.18f);
tempBox.Rotate(270.0f, 0.0f, 1.0f, 0.0f);
tempBox.Translate(1.7f, -0.2f, 5.0f);
Objects[4].SetBoundingBox(tempBox);
ObjectsM[5] = glm::translate(5.5f, -0.2f, 5.0f) *glm::rotate(180.0f, 0.0f, 1.0f, 0.0f) *glm::scale(0.004f, 0.004f, 0.004f);
tempBox = Objects[5].GetBoundingBox();
tempBox.Scale(0.004f, 0.004f, 0.004f);
tempBox.Rotate(180.0f, 0.0f, 1.0f, 0.0f);
tempBox.Translate(5.5f, -0.2f, 5.0f);
Objects[5].SetBoundingBox(tempBox);
ObjectsM[6] = glm::translate(-5.5f, -0.2f, 1.4f) *glm::scale(0.001f, 0.001f, 0.001f);
tempBox = Objects[6].GetBoundingBox();
tempBox.Scale(0.001f, 0.001f, 0.001f);
tempBox.Translate(-5.5f, -0.2f, 1.4f);
Objects[6].SetBoundingBox(tempBox);
ObjectsM[7] = glm::translate(-4.7f, -0.2f, 3.4f) *glm::rotate(270.0f, 0.0f, 1.0f, 0.0f) *glm::scale(0.002f, 0.002f, 0.002f);
tempBox = Objects[7].GetBoundingBox();
tempBox.Scale(0.002f, 0.002f, 0.002f);
tempBox.Rotate(270.0f, 0.0f, 1.0f, 0.0f);
tempBox.Translate(-4.7f, -0.2f, 3.4f);
Objects[7].SetBoundingBox(tempBox);
ObjectsM[8] = glm::translate(-2.4f, -0.2f, 7.0f) * glm::scale(0.06f, 0.06f, 0.06f);
tempBox = Objects[8].GetBoundingBox();
tempBox.Scale(0.06f, 0.06f, 0.06f);
tempBox.Translate(-2.4f, -0.2f, 7.0f);
Objects[8].SetBoundingBox(tempBox);
//right
ObjectsM[9] = glm::translate(12.0f, -0.4f, 0.0f) * glm::scale(0.002f, 0.002f, 0.002f);
AABoundingBox box(glm::vec3(8.0f, -0.2f, 0.0f), glm::vec3(1.0f, 10.0f, 30.0f));
Objects[0].SetBoundingBox(box);
ObjectsM[10] = glm::translate(12.0f, -0.4f, 8.0f) * glm::scale(0.002f, 0.002f, 0.002f);
ObjectsM[11] = glm::translate(12.0f, -0.4f, -8.0f) * glm::scale(0.002f, 0.002f, 0.002f);
//Left
ObjectsM[12] = glm::translate(-12.0f, -0.4f, 0.0f) * glm::scale(0.002f, 0.002f, 0.002f);
AABoundingBox box1(glm::vec3(-8.0f, -0.2f, 0.0f), glm::vec3(1.0f, 10.0f, 30.0f));
Objects[9].SetBoundingBox(box1);
ObjectsM[13] = glm::translate(-12.0f, -0.4f, 8.0f) * glm::scale(0.002f, 0.002f, 0.002f);
ObjectsM[14] = glm::translate(-12.0f, -0.4f, -8.0f) * glm::scale(0.002f, 0.002f, 0.002f);
//Front
ObjectsM[15] = glm::translate(0.0f, -0.4f, -11.0f) * glm::scale(0.002f, 0.002f, 0.002f);
AABoundingBox box2(glm::vec3(0.0f, -0.2f, -7.0f), glm::vec3(30.0f, 10.0f, 1.0f));
Objects[10].SetBoundingBox(box2);
ObjectsM[16] = glm::translate(7.0f, -0.4f, -11.0f) * glm::scale(0.002f, 0.002f, 0.002f);
ObjectsM[17] = glm::translate(-7.0f, -0.4f, -11.0f) * glm::scale(0.002f, 0.002f, 0.002f);
////BackMountains
ObjectsM[18] = glm::translate(0.0f, -0.4f, 11.0f) *glm::rotate(270.0f, 0.0f, 1.0f, 0.0f)* glm::scale(0.002f, 0.002f, 0.002f);
AABoundingBox box3(glm::vec3(0.0f, -0.2f, 7.0f), glm::vec3(30.0f, 10.0f, 1.0f));
Objects[11].SetBoundingBox(box3);
ObjectsM[19] = glm::translate(7.0f, -0.4f, 11.0f) *glm::rotate(270.0f, 0.0f, 1.0f, 0.0f)* glm::scale(0.002f, 0.002f, 0.002f);
ObjectsM[20] = glm::translate(-7.0f, -0.4f, 11.0f) *glm::rotate(270.0f, 0.0f, 1.0f, 0.0f)* glm::scale(0.002f, 0.002f, 0.002f);
}