//Begin TriangleGen
void TriangleGen::generator(const color4& color0, const color4& color1, const color4& color2) {
//set vertices
elements[0] = point4(-sqrt(3.0)/2.0, -0.5, 0.0, 1.0);
elements[1] = point4(sqrt(3.0)/2.0, -0.5, 0.0, 1.0);
elements[2] = point4(0.0, 1.0, 0.0, 1.0);
//set colors
elements[3] = color0; elements[4] = color1; elements[5] = color2;
//set normals
elements[6] = MatMath::zNORM; elements[7] = -MatMath::zNORM;
//front triangle
data[0] = elements[0]; data[1] = elements[1]; data[2] = elements[2];
//back triangle
data[3] = elements[2]; data[4] = elements[1]; data[5] = elements[0];
//front colors
data[6] = elements[3]; data[7] = elements[4]; data[8] = elements[5];
//back colors
data[9] = elements[5]; data[10] = elements[4]; data[11] = elements[3];
//front normals
data[12] = data[13] = data[14] = elements[6];
//back normals
data[15] = data[16] = data[17] = elements[7];
//front indices
indices[0] = 0; indices[1] = 1; indices[2] = 2;
//back indices
indices[3] = 3; indices[4] = 4; indices[5] = 5;
}
//SquareGen
void SquareGen::generate( const color4& color0, const color4& color1,
const color4& color2, const color4& color3 )
{
//set vertices
elements[0] = point4(-1.0, -1.0, 0.0, 1.0); elements[1] = point4(1.0, -1.0, 0.0, 1.0);
elements[2] = point4(1.0, 1.0, 0.0, 1.0); elements[3] = point4(-1.0, 1.0, 0.0, 1.0);
//set colors
elements[4] = color0; elements[5] = color1; elements[6] = color2; elements[7] = color3;
//set normals
elements[8] = MatMath::zNORM; elements[9] = -MatMath::zNORM;
//front square
data[0] = elements[0]; data[1] = elements[1]; data[2] = elements[2]; data[3] = elements[3];
//back square
data[4] = elements[3]; data[5] = elements[2]; data[6] = elements[1]; data[7] = elements[0];
//front colors
data[8] = elements[4]; data[9] = elements[5]; data[10] = elements[6]; data[11] = elements[7];
//back colors
data[12] = elements[7]; data[13] = elements[6]; data[14] = elements[5]; data[15] = elements[4];
//front normals
data[16] = data[17] = data[18] = data[19] = elements[8];
//back normals
data[20] = data[21] = data[22] = data[23] = elements[9];
//front triangles
indices[0] = 0; indices[1] = 1; indices[2] = 2;
indices[3] = 0; indices[4] = 2; indices[5] = 3;
//back triangles
indices[6] = 4; indices[7] = 5; indices[8] = 6;
indices[9] = 4; indices[10] = 6; indices[11] = 7;
}
vec4* Geometry::createUnitTriangle(){
int i = 0;
vec4* ret = new vec4[3];
ret[i] = point4( -U_CUBE_C, -U_CUBE_C, U_CUBE_C, 1.0 ); i++;
ret[i] = point4( 0, U_CUBE_C, U_CUBE_C, 1.0 ); i++;
ret[i] = point4( U_CUBE_C, -U_CUBE_C, U_CUBE_C, 1.0 );
return ret;
}
vec4* Geometry::createUnitPlane(){
int i = 0;
vec4 * ret = new vec4[4];
ret[i] = point4( -U_CUBE_C, -U_CUBE_C, U_CUBE_C, 1.0 ); i++;
ret[i] = point4( -U_CUBE_C, U_CUBE_C, U_CUBE_C, 1.0 ); i++;
ret[i] = point4( U_CUBE_C, U_CUBE_C, U_CUBE_C, 1.0 ); i++;
ret[i] = point4( U_CUBE_C, -U_CUBE_C, U_CUBE_C, 1.0 );
return ret;
}
void poly4::makePoints3() {
if (points4.size() == 0){
std::cout << "Error: poly4::makePoints3 called with empty points4. " << std::endl;
exit(1);
}
if (projVec.isZero()){
std::cout << "poly4::makePoints3() requires a projection vector" <<std::endl;
exit(1);
}
// std::cout << "projVec = " << projVec << std::endl;
basis[0] = point4(1.,0.,0.,0.);
basis[0] -= (basis[0]*projVec) * projVec;
if (basis[0].isZero()){
basis[0] = point4(0.,1.,0.,0.);
basis[0] -= (basis[0]*projVec) * projVec;
if (basis[0].isZero()){
std::cout << " problem with isZero()??? " << std::endl;
exit(1);
}
}
basis[0].makeUnit();
basis[1] = point4(0.,0.,1.,0.);
// std::cout << (basis[1]*projVec)* projVec << " " << (basis[1]*basis[0])*basis[0] << std::endl;
basis[1] -= (basis[1]*projVec) * projVec;
// std::cout << basis[1] << " : " << basis[1]*basis[0] << " " << basis[1]*projVec << std::endl;
basis[1] -= (basis[1]*basis[0])*basis[0];
if (basis[1].isZero()){
basis[1] = point4(0.,0.,0.,1.);
basis[1] -= (basis[1]*projVec)* projVec;
basis[1] -= (basis[1]*basis[0])*basis[0];
if (basis[1].isZero()){
// std::cout << " problem with isZero()??? " << std::endl;
exit(1);
}
}
basis[1].makeUnit();
// std::cout << basis[1]*basis[0] << " " << basis[1]*projVec << std::endl;
basis[2] = projVec.cross(basis[0],basis[1]);
basis[2].makeUnit();
// std::cout << "basis : " << basis[0] << " " << basis[1] << " " << basis[2] << std::endl;
// check orthogonality??
for (int i=0;i<points4.size();i++)
points.push_back( point(basis[0]*points4[i],basis[1]*points4[i],basis[2]*points4[i]));
// for (int i=0;i<points.size();i++)
// std::cout << "p["<< i << "] : " << points[i] << std::endl;
}
CCube::CCube(double size, bool drawFrontFace)
{
// Vertices of a unit cube centered at origin, sides aligned with axes
vertex_positions[0] = point4( -size, -size, size, 1.0 );
vertex_positions[1] = point4( -size, size, size, 1.0 );
vertex_positions[2] = point4( size, size, size, 1.0 );
vertex_positions[3] = point4( size, -size, size, 1.0 );
vertex_positions[4] = point4( -size, -size, -size, 1.0 );
vertex_positions[5] = point4( -size, size, -size, 1.0 );
vertex_positions[6] = point4( size, size, -size, 1.0 );
vertex_positions[7] = point4( size, -size, -size, 1.0 );
int Index = 0;
if(drawFrontFace)
{
quad( 1, 0, 3, 2 , vertex_positions, Index);
}
quad( 2, 3, 7, 6 , vertex_positions, Index);
quad( 3, 0, 4, 7 , vertex_positions, Index);
quad( 6, 5, 1, 2 , vertex_positions, Index);
quad( 4, 5, 6, 7 , vertex_positions, Index);
quad( 5, 4, 0, 1 , vertex_positions, Index);
//Initialize the motion
v = vec3(15.0, 0., 0.);
w = vec3(1., 1., 1.);
}
void Terrain::addTriangle(point4 p1, point4 p2, point4 p3, color4 high, color4 mid, color4 low, color4 brown){
point4 p1_new = point4(p1.x, p1.y, POSITIVE(p1.z), p1.w);
point4 p2_new = point4(p2.x, p2.y, POSITIVE(p2.z), p2.w);
point4 p3_new = point4(p3.x, p3.y, POSITIVE(p3.z), p3.w);
vec4 u = p2_new - p1_new;
vec4 v = p3_new - p1_new;
vec3 normal = -normalize( cross(u, v) );
if (this->points.size() < this->num_points + 5){
this->points.resize(2*this->points.size());
this->normals.resize(2*this->points.size());
this->colors.resize(2*this->points.size());
}
points[this->num_points] = p1_new;
normals[this->num_points] = normal;
if (p1.z == 0){
colors[this->num_points++] = low;
} else if (p1.z > -0.5*this->range){
colors[this->num_points++] = mid;
} else if (p1.z > -0.75*this->range){
colors[this->num_points++] = brown;
} else {
colors[this->num_points++] = high;
}
points[this->num_points] = p2_new;
normals[this->num_points] = normal;
if (p2.z == 0){
colors[this->num_points++] = low;
} else if (p2.z > -0.5*this->range){
colors[this->num_points++] = mid;
} else if (p3.z > -0.75*this->range){
colors[this->num_points++] = brown;
} else {
colors[this->num_points++] = high;
}
points[this->num_points] = p3_new;
normals[this->num_points] = normal;
if (p3.z == 0){
colors[this->num_points++] = low;
} else if (p3.z > -0.5*this->range){
colors[this->num_points++] = mid;
} else if (p3.z > -0.75*this->range){
colors[this->num_points++] = brown;
} else {
colors[this->num_points++] = high;
}
}
void TestOpDeselectPoint()
{
//check OpDESELECTPOINT ExecuteOperation
mitk::Point3D point4(0.);
doOp = new mitk::PointOperation(mitk::OpDESELECTPOINT, point4,4);
pointSet->ExecuteOperation(doOp);
CPPUNIT_ASSERT_EQUAL_MESSAGE("check PointOperation OpDESELECTPOINT ",
false, pointSet->GetSelectInfo(4));
CPPUNIT_ASSERT_EQUAL_MESSAGE("check GetNumeberOfSelected ",
true, pointSet->GetNumberOfSelected() == 0 );
/*
if (pointSet->GetSelectInfo(4))
{
std::cout<<"[FAILED]"<<std::endl;
return EXIT_FAILURE;
}
delete doOp;
std::cout<<"[PASSED]"<<std::endl;
if(pointSet->GetNumberOfSelected() != 0)
{
std::cout<<"[FAILED]"<<std::endl;
return EXIT_FAILURE;
}
std::cout<<"[PASSED]"<<std::endl;
*/
}
void MyPrimitive::GenerateTube(float a_fOuterRadius, float a_fInnerRadius, float a_fHeight, int a_nSubdivisions, vector3 a_v3Color)
{
if (a_nSubdivisions < 3)
a_nSubdivisions = 3;
if (a_nSubdivisions > 360)
a_nSubdivisions = 360;
Release();
Init();
for (int i = 0; i < a_nSubdivisions; i++)
{
float ang = (2 * PI) / a_nSubdivisions;
vector3 point0(a_fOuterRadius*cos((i + 1)*ang), a_fHeight, a_fOuterRadius*sin((i + 1)*ang)); //1
vector3 point1(a_fOuterRadius*cos(i*ang), 0, a_fOuterRadius*sin(i*ang)); //2
vector3 point2(a_fOuterRadius*cos(i*ang), a_fHeight, a_fOuterRadius*sin(i*ang)); //0
vector3 point3(a_fOuterRadius*cos((i + 1)*ang), 0, a_fOuterRadius*sin((i + 1)*ang)); //3
vector3 point4(a_fInnerRadius*cos((i + 1)*ang), a_fHeight, a_fInnerRadius*sin((i + 1)*ang)); //1
vector3 point5(a_fInnerRadius*cos(i*ang), 0, a_fInnerRadius*sin(i*ang)); //2
vector3 point6(a_fInnerRadius*cos(i*ang), a_fHeight, a_fInnerRadius*sin(i*ang)); //0
vector3 point7(a_fInnerRadius*cos((i + 1)*ang), 0, a_fInnerRadius*sin((i + 1)*ang)); //3
AddQuad(point4, point0, point6, point2); //Top
AddQuad(point0, point3, point2, point1); //Outer
AddQuad(point7, point5, point3, point1); //Bottom
AddQuad(point5, point7, point6,point4 ); // Inner
}
//Your code ends here
CompileObject(a_v3Color);
}
BaseIF* makeVane(const Real& thick,
const RealVect& normal,
const Real& innerRadius,
const Real& outerRadius,
const Real& offset,
const Real& height)
{
RealVect zero(D_DECL(0.0,0.0,0.0));
RealVect xAxis(D_DECL(1.0,0.0,0.0));
bool inside = true;
Vector<BaseIF*> vaneParts;
// Each side of the vane (infinite)
RealVect normal1(normal);
RealVect point1(D_DECL(offset+height/2.0,-thick/2.0,0.0));
PlaneIF plane1(normal1,point1,inside);
vaneParts.push_back(&plane1);
RealVect normal2(-normal);
RealVect point2(D_DECL(offset+height/2.0,thick/2.0,0.0));
PlaneIF plane2(normal2,point2,inside);
vaneParts.push_back(&plane2);
// Make sure we only get something to the right of the origin
RealVect normal3(D_DECL(0.0,0.0,1.0));
RealVect point3(D_DECL(0.0,0.0,0.0));
PlaneIF plane3(normal3,point3,inside);
vaneParts.push_back(&plane3);
// Cut off the top and bottom
RealVect normal4(D_DECL(1.0,0.0,0.0));
RealVect point4(D_DECL(offset,0.0,0.0));
PlaneIF plane4(normal4,point4,inside);
vaneParts.push_back(&plane4);
RealVect normal5(D_DECL(-1.0,0.0,0.0));
RealVect point5(D_DECL(offset+height,0.0,0.0));
PlaneIF plane5(normal5,point5,inside);
vaneParts.push_back(&plane5);
// The outside of the inner cylinder
TiltedCylinderIF inner(innerRadius,xAxis,zero,!inside);
vaneParts.push_back(&inner);
// The inside of the outer cylinder
TiltedCylinderIF outer(outerRadius,xAxis,zero,inside);
vaneParts.push_back(&outer);
IntersectionIF* vane = new IntersectionIF(vaneParts);
return vane;
}
void TestOpMovePointUp()
{
//check OpMOVEPOINTUP ExecuteOperation
const int id = 4;
mitk::Point3D point = pointSet->GetPoint(id);
mitk::Point3D point4(0.);
doOp = new mitk::PointOperation(mitk::OpMOVEPOINTUP, point4, id);
pointSet->ExecuteOperation(doOp);
mitk::Point3D tempPoint = pointSet->GetPoint(id-1);
CPPUNIT_ASSERT_EQUAL_MESSAGE("check PointOperation OpMOVEPOINTUP ",
true, tempPoint == point);
/*
if (tempPoint != point)
{
std::cout<<"[FAILED]"<<std::endl;
return EXIT_FAILURE;
}
delete doOp;
std::cout<<"[PASSED]"<<std::endl;
*/
}
void Rectangle3DOverlay::render(RenderArgs* args) {
if (!_visible) {
return; // do nothing if we're not visible
}
float alpha = getAlpha();
xColor color = getColor();
const float MAX_COLOR = 255.0f;
glm::vec4 rectangleColor(color.red / MAX_COLOR, color.green / MAX_COLOR, color.blue / MAX_COLOR, alpha);
glm::vec3 position = getPosition();
glm::vec2 dimensions = getDimensions();
glm::vec2 halfDimensions = dimensions * 0.5f;
glm::quat rotation = getRotation();
auto batch = args->_batch;
if (batch) {
Transform transform;
transform.setTranslation(position);
transform.setRotation(rotation);
batch->setModelTransform(transform);
auto geometryCache = DependencyManager::get<GeometryCache>();
if (getIsSolid()) {
glm::vec3 topLeft(-halfDimensions.x, -halfDimensions.y, 0.0f);
glm::vec3 bottomRight(halfDimensions.x, halfDimensions.y, 0.0f);
geometryCache->bindSimpleProgram(*batch);
geometryCache->renderQuad(*batch, topLeft, bottomRight, rectangleColor);
} else {
geometryCache->bindSimpleProgram(*batch, false, false, false, true, true);
if (getIsDashedLine()) {
glm::vec3 point1(-halfDimensions.x, -halfDimensions.y, 0.0f);
glm::vec3 point2(halfDimensions.x, -halfDimensions.y, 0.0f);
glm::vec3 point3(halfDimensions.x, halfDimensions.y, 0.0f);
glm::vec3 point4(-halfDimensions.x, halfDimensions.y, 0.0f);
geometryCache->renderDashedLine(*batch, point1, point2, rectangleColor);
geometryCache->renderDashedLine(*batch, point2, point3, rectangleColor);
geometryCache->renderDashedLine(*batch, point3, point4, rectangleColor);
geometryCache->renderDashedLine(*batch, point4, point1, rectangleColor);
} else {
if (halfDimensions != _previousHalfDimensions) {
QVector<glm::vec3> border;
border << glm::vec3(-halfDimensions.x, -halfDimensions.y, 0.0f);
border << glm::vec3(halfDimensions.x, -halfDimensions.y, 0.0f);
border << glm::vec3(halfDimensions.x, halfDimensions.y, 0.0f);
border << glm::vec3(-halfDimensions.x, halfDimensions.y, 0.0f);
border << glm::vec3(-halfDimensions.x, -halfDimensions.y, 0.0f);
geometryCache->updateVertices(_geometryCacheID, border, rectangleColor);
_previousHalfDimensions = halfDimensions;
}
geometryCache->renderVertices(*batch, gpu::LINE_STRIP, _geometryCacheID);
}
}
}
}
// out: optimized model-shape
// in: GRAY img
// in: evtl zusaetzlicher param um scale-level/iter auszuwaehlen
// calculates shape updates (deltaShape) for one or more iter/scales and returns...
// assume we get a col-vec.
cv::Mat optimize(cv::Mat modelShape, cv::Mat image) {
for (int cascadeStep = 0; cascadeStep < model.getNumCascadeSteps(); ++cascadeStep) {
//feature_current = obtain_features(double(TestImg), New_Shape, 'HOG', hogScale);
vector<cv::Point2f> points;
for (int i = 0; i < model.getNumLandmarks(); ++i) { // in case of HOG, need integers?
points.emplace_back(cv::Point2f(modelShape.at<float>(i), modelShape.at<float>(i + model.getNumLandmarks())));
}
Mat currentFeatures;
double dynamicFaceSizeDistance = 0.0;
if (true) { // adaptive
// dynamic face-size:
cv::Vec2f point1(modelShape.at<float>(8), modelShape.at<float>(8 + model.getNumLandmarks())); // reye_ic
cv::Vec2f point2(modelShape.at<float>(9), modelShape.at<float>(9 + model.getNumLandmarks())); // leye_ic
cv::Vec2f anchor1 = (point1 + point2) / 2.0f;
cv::Vec2f point3(modelShape.at<float>(11), modelShape.at<float>(11 + model.getNumLandmarks())); // rmouth_oc
cv::Vec2f point4(modelShape.at<float>(12), modelShape.at<float>(12 + model.getNumLandmarks())); // lmouth_oc
cv::Vec2f anchor2 = (point3 + point4) / 2.0f;
// dynamic window-size:
// From the paper: patch size $ S_p(d) $ of the d-th regressor is $ S_p(d) = S_f / ( K * (1 + e^(d-D)) ) $
// D = numCascades (e.g. D=5, d goes from 1 to 5 (Matlab convention))
// K = fixed value for shrinking
// S_f = the size of the face estimated from the previous updated shape s^(d-1).
// For S_f, can use the IED, EMD, or max(IED, EMD). We use the EMD.
dynamicFaceSizeDistance = cv::norm(anchor1 - anchor2);
double windowSize = dynamicFaceSizeDistance / 2.0; // shrink value
double windowSizeHalf = windowSize / 2.0;
windowSizeHalf = std::round(windowSizeHalf * (1 / (1 + exp((cascadeStep + 1) - model.getNumCascadeSteps())))); // this is (step - numStages), numStages is 5 and step goes from 1 to 5. Because our step goes from 0 to 4, we add 1.
int NUM_CELL = 3; // think about if this should go in the descriptorExtractor or not. Is it Hog specific?
int windowSizeHalfi = static_cast<int>(windowSizeHalf) + NUM_CELL - (static_cast<int>(windowSizeHalf) % NUM_CELL); // make sure it's divisible by 3. However, this is not needed and not a good way
currentFeatures = model.getDescriptorExtractor(cascadeStep)->getDescriptors(image, points, windowSizeHalfi);
}
else { // non-adaptive, the descriptorExtractor has all necessary params
currentFeatures = model.getDescriptorExtractor(cascadeStep)->getDescriptors(image, points);
}
currentFeatures = currentFeatures.reshape(0, currentFeatures.cols * model.getNumLandmarks()).t();
//delta_shape = AAM.RF(1).Regressor(hogScale).A(1:end - 1, : )' * feature_current + AAM.RF(1).Regressor(hogScale).A(end,:)';
Mat regressorData = model.getRegressorData(cascadeStep);
//Mat deltaShape = regressorData.rowRange(0, regressorData.rows - 1).t() * currentFeatures + regressorData.row(regressorData.rows - 1).t();
Mat deltaShape = currentFeatures * regressorData.rowRange(0, regressorData.rows - 1) + regressorData.row(regressorData.rows - 1);
if (true) { // adaptive
modelShape = modelShape + deltaShape.t() * dynamicFaceSizeDistance;
}
else {
modelShape = modelShape + deltaShape.t();
}
/*
for (int i = 0; i < m.getNumLandmarks(); ++i) {
cv::circle(landmarksImage, Point2f(modelShape.at<float>(i, 0), modelShape.at<float>(i + m.getNumLandmarks(), 0)), 6 - hogScale, Scalar(51.0f*(float)hogScale, 51.0f*(float)hogScale, 0.0f));
}*/
}
return modelShape;
};
void Terrain::storePointsTriangles(){
int i,j,k=0;
float init_scale_factor = 0.5;
int center_factor = (this->side_size-1)/2;
for (i=0; i<this->side_size-1; i++){
for (j=0; j<this->side_size-1; j++){
point4 p1 = point4(i-center_factor,j-center_factor,terrain[i][j],1.0);
point4 p2 = point4(i-center_factor,j+1-center_factor,terrain[i][j+1],1.0);
point4 p3 = point4(i+1-center_factor,j+1-center_factor,terrain[i+1][j+1],1.0);
point4 p4 = point4(i+1-center_factor,j-center_factor,terrain[i+1][j],1.0);
color4 high = color4(.95f, .95f, .95f, 1.0); // White
color4 mid = color4(.05f, .75f, .45f, 1.0); // Green
color4 low = color4(.05f, .05f, .95f, 1.0); // Blue
color4 brown = color4(0.5f, 0.35f, 0.05f, 1.0); // Brown
addTriangle(p1, p2, p3, high, mid, low, brown);
addTriangle(p1, p3, p4, high, mid, low, brown);
}
}
}
void TestSnapStrategy::testSquareDistanceToLine()
{
BoundingBoxSnapStrategy toTestOne;
const QPointF lineA(4,1);
const QPointF lineB(6,3);
const QPointF point(5,8);
QPointF pointOnLine(0,0);
qreal result = toTestOne.squareDistanceToLine(lineA, lineB, point, pointOnLine);
//Should be HUGE_VAL because scalar > diffLength
QVERIFY(result == HUGE_VAL);
BoundingBoxSnapStrategy toTestTwo;
QPointF lineA2(4,4);
QPointF lineB2(4,4);
QPointF point2(5,8);
QPointF pointOnLine2(0,0);
qreal result2 = toTestTwo.squareDistanceToLine(lineA2, lineB2, point2, pointOnLine2);
//Should be HUGE_VAL because lineA2 == lineB2
QVERIFY(result2 == HUGE_VAL);
BoundingBoxSnapStrategy toTestThree;
QPointF lineA3(6,4);
QPointF lineB3(8,6);
QPointF point3(2,2);
QPointF pointOnLine3(0,0);
qreal result3 = toTestThree.squareDistanceToLine(lineA3, lineB3, point3, pointOnLine3);
//Should be HUGE_VAL because scalar < 0.0
QVERIFY(result3 == HUGE_VAL);
BoundingBoxSnapStrategy toTestFour;
QPointF lineA4(2,2);
QPointF lineB4(8,6);
QPointF point4(3,4);
QPointF pointOnLine4(0,0);
QPointF diff(6,4);
//diff = lineB3 - point3 = 6,4
//diffLength = sqrt(52)
//scalar = (1*(6/sqrt(52)) + 2*(4/sqrt(52)));
//pointOnLine = lineA + scalar / diffLength * diff; lineA + ((1*(6/sqrt(52)) + 2*(4/sqrt(52))) / sqrt(52)) * 6,4;
QPointF distToPointOnLine = (lineA4 + ((1*(6/sqrt(52.0)) + 2*(4/sqrt(52.0))) / sqrt(52.0)) * diff)-point4;
qreal toCompWithFour = distToPointOnLine.x()*distToPointOnLine.x()+distToPointOnLine.y()*distToPointOnLine.y();
qreal result4 = toTestFour.squareDistanceToLine(lineA4, lineB4, point4, pointOnLine4);
//Normal case with example data
QVERIFY(qFuzzyCompare(result4, toCompWithFour));
}
/*
* Gets the (x, y) position on the screen of the given 3D point.
* * The coordinates are in the range [0, 1], with the origin in the top left
* corner. The x-axis is width of the screen, and y-axis is the height.
*
* Input:
* point: The 3D point whose screen position we want.
* camera: The camera we're looking from.
*
* Output:
* screen_x: The x position of the point on the screen.
* screen_y: The y position of the point on the screen.
*/
void VisibilityChecker::GetScreenPosition(const Ogre::Vector3& point,
float* screen_x, float* screen_y) {
// This projection returns x and y in the range of [-1, 1]. The (-1, -1) point
// is in the bottom left corner.
Ogre::Vector4 point4(point.x, point.y, point.z, 1);
Ogre::Vector4 projected = camera_->getProjectionMatrix()
* camera_->getViewMatrix() * point4;
projected = projected / projected.w;
*screen_x = (projected.x + 1) / 2;
*screen_y = (1 - projected.y) / 2;
}
void Terrain::storePointsLines(){
int i,j,k=0;
float init_scale_factor = 0.5;
int center_factor = (this->side_size-1)/2;
for (i=0; i<this->side_size; i++){
for (j=0; j<this->side_size-1; j++){
// Y Line
points[k] = point4(i-center_factor,j-center_factor,terrain[i][j],1.0);
colors[k++] = color4(1.0, 1.0, 1.0, 1.0); // White
points[k] = point4(i-center_factor,j+1-center_factor,terrain[i][j+1],1.0);
colors[k++] = color4(1.0, 1.0, 1.0, 1.0); // White
// X Line
if (i < this->side_size-1){
points[k] = point4(i-center_factor,j-center_factor,terrain[i][j],1.0);
colors[k++] = color4(1.0, 1.0, 1.0, 1.0); // White
points[k] = point4(i+1-center_factor,j-center_factor,terrain[i+1][j],1.0);
colors[k++] = color4(1.0, 1.0, 1.0, 1.0); // White
}
}
// Final X Line
if (i < this->side_size-1){
points[k] = point4((i-center_factor),j-center_factor,terrain[i][j],1.0);
colors[k++] = color4(1.0, 1.0, 1.0, 1.0); // White
points[k] = point4(i+1-center_factor,(j-center_factor),terrain[i+1][j],1.0);
colors[k++] = color4(1.0, 1.0, 1.0, 1.0); // White
}
}
this->num_points = k;
}
vec4* Geometry::createUnitCube(){
int i = 0;
vec4 * vertices = new vec4[8];
vertices[i] = point4( -U_CUBE_C, -U_CUBE_C, U_CUBE_C, 1.0 ); i++;
vertices[i] = point4( -U_CUBE_C, U_CUBE_C, U_CUBE_C, 1.0 ); i++;
vertices[i] = point4( U_CUBE_C, U_CUBE_C, U_CUBE_C, 1.0 ); i++;
vertices[i] = point4( U_CUBE_C, -U_CUBE_C, U_CUBE_C, 1.0 ); i++;
vertices[i] = point4( -U_CUBE_C, -U_CUBE_C, -U_CUBE_C, 1.0 ); i++;
vertices[i] = point4( -U_CUBE_C, U_CUBE_C, -U_CUBE_C, 1.0 ); i++;
vertices[i] = point4( U_CUBE_C, U_CUBE_C, -U_CUBE_C, 1.0 ); i++;
vertices[i] = point4( U_CUBE_C, -U_CUBE_C, -U_CUBE_C, 1.0 ); //end
return vertices;
}
//Begin FanGen
void FanGen::generate(const color4& insideColor, const color4& outsideColor) {
const float init = M_PI / 4.0;
const float theta = M_PI / 9.0;
//set vertices
elements[0] = MatMath::ORIGIN;
for (int i = 1; i < 5; ++i)
elements[i] = point4(cos(init + (i - 1) * theta), sin(init + (i - 1) * theta), 0.0, 1.0);
//set colors
elements[5] = insideColor; elements[6] = outsideColor;
//set normals
elements[7] = MatMath::zNORM; elements[8] = -MatMath::zNORM;
//front points
data[0] = elements[0];
for (int i = 1; i < 5; ++i)
data[i] = elements[i];
//back points
data[5] = elements[0];
for (int i = 1; i < 5; ++i)
data[i + 5] = elements[5 - i];
//colors
data[10] = data[15] = insideColor;
for (int i = 1; i < 5; ++i) {
//front
data[i + 10] = outsideColor;
//back
data[i + 15] = outsideColor;
}
//normals
for (int i = 0; i < 5; ++i) {
//front
data[20 + i] = MatMath::zNORM;
//bacl
data[25 + i] = -MatMath::zNORM;
}
//front fan
for (int i = 0; i < 3; ++i) {
indices[3 * i] = 0;
indices[3 * i + 1] = i + 1;
indices[3 * i + 2] = i + 2;
}
//back fan
for (int i = 0; i < 3; ++i) {
indices[3 * (i + 3)] = 5;
indices[3 * (i + 3) + 1] = i + 6;
indices[3 * (i + 3) + 2] = i + 7;
}
}
void WCX_floor::generateAxis(){
// axis x
axis_points[0] = point4(0.0,0.0,0.0,1.0); axis_colors[0] = color4(1.0,0.0,0.0,1.0);
axis_points[1] = point4(10.0,0.0,0.0,1.0); axis_colors[1] = color4(1.0,0.0,0.0,1.0);
axis_points[2] = point4(0.0,0.0,0.0,1.0); axis_colors[2] = color4(1.0,0.0,1.0,1.0);
axis_points[3] = point4(0.0,10.0,0.0,1.0); axis_colors[3] = color4(1.0,0.0,1.0,1.0);
axis_points[4] = point4(0.0,0.0,0.0,1.0); axis_colors[4] = color4(0.0,0.0,1.0,1.0);
axis_points[5] = point4(0.0,0.0,10.0,1.0); axis_colors[5] = color4(0.0,0.0,1.0,1.0);
}
void EyeCalibration::createTestData() {
CalibrationPoint point1(20, 5, osg::Vec3(-1.2f, -1.f, 2.f));
calibrationPoints.push_back(point1);
CalibrationPoint point2(700, 25, osg::Vec3(1.4f, -1.f, 1.6f));
calibrationPoints.push_back(point2);
CalibrationPoint point3(-10, 520, osg::Vec3(-0.8f, -1.f, -1.4f));
calibrationPoints.push_back(point3);
CalibrationPoint point4(730, 542, osg::Vec3(1.f, -1.f, -1.3f));
calibrationPoints.push_back(point4);
}
bool pocketCollision(sphere* sphere1)
{
float disty =distance(sphere1->currpos, point4(sphere1->currpos.x,2,0,1)); //collision with top wall
float distny = distance(sphere1->currpos, point4(sphere1->currpos.x,-2,0,1)); //collision with bottom wall
float distx = distance(sphere1->currpos, point4(1,sphere1->currpos.y,0,1)); //collision with right wall
float distnx = distance(sphere1->currpos, point4(-1,sphere1->currpos.y,0,1)); //collision with left wall
//collision with top wall
//top left
if((sphere1->currpos.y>1.86) && (sphere1->currpos.x<=-.9))
{
return false;
}
//top right
if((sphere1->currpos.y>1.86) && (sphere1->currpos.x>=.9))
{
return false;
}
//left
if((sphere1->currpos.x<=-.9) && (sphere1->currpos.y<.1 && sphere1->currpos.y>-.1)) {
return false;
}
//right
if((sphere1->currpos.x>=.9) && (sphere1->currpos.y<.1 && sphere1->currpos.y>-.1)) {
return false;
}
//bottom left
if((sphere1->currpos.y<-1.86) && (sphere1->currpos.x<=-.88)) {
return false;
}
//bottom right
if((sphere1->currpos.y<-1.86) && (sphere1->currpos.x>=.88)) {
return false;
}
return true;
}
void poly4::calcCenter4() {
int mSize = points4.size();
if (mSize == 0){
std::cout << "Error : poly::calcCenter4() called with empty points4 " << std::endl;
exit(1);
}
center4 = point4(0.,0.,0.,0.);
for (int i=0;i<mSize;i++){
center4 += points4[i];
}
center4 /= double(mSize);
// std::cout << "center = " << center4 << std::endl;
}
void MyPrimitive::GenerateCube(float a_mSize, vector3 a_vColor)
{
//If the size is less than this make it this large
if (a_mSize < 0.01f)
a_mSize = 0.01f;
//Clean up Memory
Release();
Init();
float fValue = 0.5f * a_mSize;
//3--2
//| |
//0--1
vector3 point0(-fValue, -fValue, fValue); //0
vector3 point1(fValue, -fValue, fValue); //1
vector3 point2(fValue, fValue, fValue); //2
vector3 point3(-fValue, fValue, fValue); //3
//7--6
//| |
//4--5
vector3 point4(-fValue, -fValue, -fValue); //4
vector3 point5(fValue, -fValue, -fValue); //5
vector3 point6(fValue, fValue, -fValue); //6
vector3 point7(-fValue, fValue, -fValue); //7
//F
AddQuad(point0, point1, point3, point2);
//B
AddQuad(point5, point4, point6, point7);
//L
AddQuad(point4, point0, point7, point3);
//R
AddQuad(point1, point5, point2, point6);
//U
AddQuad(point3, point2, point7, point6);
//D
AddQuad(point4, point5, point0, point1);
//Compile the object in this color and assign it this name
CompileObject(a_vColor);
}
CubeCreator::CubeCreator(float width, float height, float depth) : index(0) {
float hW = width / 2;
float hH = height / 2;
float hD = depth / 2;
vertices[0] = point4(-hW, -hH, hD, 1.0);
vertices[1] = point4(-hW, hH, hD, 1.0);
vertices[2] = point4(hW, hH, hD, 1.0);
vertices[3] = point4(hW, -hH, hD, 1.0);
vertices[4] = point4(-hW, -hH, -hD, 1.0);
vertices[5] = point4(-hW, hH, -hD, 1.0);
vertices[6] = point4(hW, hH, -hD, 1.0);
vertices[7] = point4(hW, -hH, -hD, 1.0);
colors_[0] = { 0.0f, 0.0f, 0.0f };
colors_[1] = { 0.0f, 0.0f, 1.0f };
colors_[2] = { 0.0f, 1.0f, 0.0f };
colors_[3] = { 0.0f, 1.0f, 1.0f };
colors_[4] = { 1.0f, 0.0f, 0.0f };
colors_[5] = { 1.0f, 0.0f, 1.0f };
colors_[6] = { 1.0f, 1.0f, 0.0f };
colors_[7] = { 1.0f, 1.0f, 1.0f };
//fe::fill(colors_, glm::vec3(1.f));
face_colors_ = {
glm::vec3(1.f, 0.f, 0.f),
glm::vec3(0.f, 0.f, 1.f),
glm::vec3(1.f, 1.f, 0.f),
glm::vec3(1.f, 0.f, 0.f),
glm::vec3(1.f, 0.f, 1.f),
glm::vec3(1.f, 0.f, 0.f),
};
fe::fill(face_colors_, glm::vec3(1.f));
quad(1, 0, 3, 2);
quad(2, 3, 7, 6);
quad(3, 0, 4, 7);
quad(6, 5, 1, 2);
quad(4, 5, 6, 7);
quad(5, 4, 0, 1);
}
void MyPrimitive::GenerateCube(float a_fSize, vector3 a_v3Color)
{
if (a_fSize < 0.01f)
a_fSize = 0.01f;
Release();
Init();
float fValue = 0.5f * a_fSize;
//3--2
//| |
//0--1
vector3 point0(-fValue, -fValue, fValue); //0
vector3 point1(fValue, -fValue, fValue); //1
vector3 point2(fValue, fValue, fValue); //2
vector3 point3(-fValue, fValue, fValue); //3
vector3 point4(-fValue, -fValue, -fValue); //4
vector3 point5(fValue, -fValue, -fValue); //5
vector3 point6(fValue, fValue, -fValue); //6
vector3 point7(-fValue, fValue, -fValue); //7
//F
AddQuad(point0, point1, point3, point2);
//B
AddQuad(point5, point4, point6, point7);
//L
AddQuad(point4, point0, point7, point3);
//R
AddQuad(point1, point5, point2, point6);
//U
AddQuad(point3, point2, point7, point6);
//D
AddQuad(point4, point5, point0, point1);
CompileObject(a_v3Color);
}
void MyPrimitive::GenerateCylinder(float a_fRadius, float a_fHeight, int a_nSubdivisions, vector3 a_v3Color)
{
if (a_nSubdivisions < 3)
a_nSubdivisions = 3;
if (a_nSubdivisions > 360)
a_nSubdivisions = 360;
Release();
Init();
//Your code starts here
float fValue = 0.5f;
//3--2
//| |
//0--1
//vector3 point0(-fValue, -fValue, fValue); //0
//vector3 point1(fValue, -fValue, fValue); //1
//vector3 point2(fValue, fValue, fValue); //2
//vector3 point3(-fValue, fValue, fValue); //3
//
//AddQuad(point0, point1, point3, point2);
vector3 point0(0, 0, 0);
vector3 point1(0, a_fHeight, 0);
for (int i = 0; i < a_nSubdivisions; i++)
{
float ang = (2 * PI) / a_nSubdivisions;
vector3 point2(a_fRadius*cos(i*ang), 0, a_fRadius*sin(i*ang)); //0
vector3 point3(a_fRadius*cos((i + 1)*ang), 0, a_fRadius*sin((i + 1)*ang)); //3
vector3 point4(a_fRadius*cos(i*ang), a_fHeight, a_fRadius*sin(i*ang)); //0
vector3 point5(a_fRadius*cos((i + 1)*ang), a_fHeight, a_fRadius*sin((i + 1)*ang)); //3
AddQuad(point1, point3, point2, point4);
AddQuad(point1, point4, point5, point3);
}
//Your code ends here
CompileObject(a_v3Color);
}
/**
* @brief Determines if any edge of the polygon intersects with any edge of a branch
* @param currLeaf
* @return
*/
bool PolygonSearch::PolygonHasEdgeIntersection(leaf *currLeaf)
{
Point point1(currLeaf->bounds[0], currLeaf->bounds[2]); /* Bottom Left */
Point point2(currLeaf->bounds[1], currLeaf->bounds[2]); /* Bottom Right */
Point point3(currLeaf->bounds[0], currLeaf->bounds[3]); /* Top Left */
Point point4(currLeaf->bounds[1], currLeaf->bounds[3]); /* Top Right */
unsigned int pointCount = polygonPoints.size();
for (unsigned int i=0; i<pointCount-1; ++i)
if (EdgesIntersect(point1, point2, polygonPoints[i], polygonPoints[i+1]) ||
EdgesIntersect(point1, point3, polygonPoints[i], polygonPoints[i+1]) ||
EdgesIntersect(point3, point4, polygonPoints[i], polygonPoints[i+1]) ||
EdgesIntersect(point2, point4, polygonPoints[i], polygonPoints[i+1]))
return true;
if (EdgesIntersect(point1, point2, polygonPoints[0], polygonPoints[pointCount-1]) ||
EdgesIntersect(point1, point3, polygonPoints[0], polygonPoints[pointCount-1]) ||
EdgesIntersect(point3, point4, polygonPoints[0], polygonPoints[pointCount-1]) ||
EdgesIntersect(point2, point4, polygonPoints[0], polygonPoints[pointCount-1]))
return true;
return false;
}
void Terra::make(){
static vec3 base_colors[] = {
vec3( 1.0, 0.0, 0.0 ),
vec3( 0.0, 1.0, 0.0 ),
vec3( 0.0, 0.0, 1.0 ),
vec3( 1.0, 1.0, 0.0 )
};
Index=6;
this->points[0] = point4(-x, y,-z, 1.0);
this->points[1] = point4( x, y,-z, 1.0);
this->points[2] = point4(-x, y, z, 1.0);
this->points[3] = point4(-x, y, z, 1.0);
this->points[4] = point4( x, y,-z, 1.0);
this->points[5] = point4( x, y, z, 1.0);
}
Cube::Cube(vec3 pos, vec3 s)
{
numVertices = 36;
quadIndex = 0;
position = pos;
scale = s;
points = new point4[numVertices];
normals = new vec3[numVertices];
diffuse = color4(0.2, 0.2, 0.6, 1.0);
ambient = color4(1.0, 1.0, 1.0, 1.0);
specular = color4(1.0, 1.0, 1.0, 1.0);
shininess = 100.0;
vertices = new point4[8];
vertices[0] = point4( -0.5, -0.5, 0.5, 1.0 );
vertices[1] = point4( -0.5, 0.5, 0.5, 1.0 );
vertices[2] = point4( 0.5, 0.5, 0.5, 1.0 );
vertices[3] = point4( 0.5, -0.5, 0.5, 1.0 );
vertices[4] = point4( -0.5, -0.5, -0.5, 1.0 );
vertices[5] = point4( -0.5, 0.5, -0.5, 1.0 );
vertices[6] = point4( 0.5, 0.5, -0.5, 1.0 );
vertices[7] = point4( 0.5, -0.5, -0.5, 1.0 );
vertex_colors = new point4[8];
vertex_colors[0] = color4( 0.0, 0.0, 0.0, 1.0 );
vertex_colors[1] = color4( 1.0, 0.0, 0.0, 1.0 );
vertex_colors[2] = color4( 1.0, 1.0, 0.0, 1.0 );
vertex_colors[3] = color4( 0.0, 1.0, 0.0 , 1.0 );
vertex_colors[4] = color4( 0.0, 0.0, 1.0, 1.0 );
vertex_colors[5] = color4( 1.0, 0.0, 1.0, 1.0 );
vertex_colors[6] = color4( 1.0, 1.0, 1.0, 1.0 );
vertex_colors[7] = color4( 0.0, 1.0, 1.0, 1.0 );
colorcube();
setUpShader();
}