void drawGrid()
{
if (!grid)
{
grid = new Mesh();
grid->createGrid(10);
}
glLineWidth(1);
glEnable(GL_BLEND);
glDepthMask(false);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
Shader* grid_shader = Shader::getDefaultShader("grid");
grid_shader->enable();
Matrix44 m;
m.translate(floor(Camera::last_enabled->eye.x / 100.0)*100.0f, 0.0f, floor(Camera::last_enabled->eye.z / 100.0f)*100.0f);
grid_shader->setUniform("u_color", Vector4(0.7, 0.7, 0.7, 0.7));
grid_shader->setUniform("u_model", m);
grid_shader->setUniform("u_camera_position", Camera::last_enabled->eye);
grid_shader->setUniform("u_viewprojection", Camera::last_enabled->viewprojection_matrix);
grid->render(GL_LINES); //background grid
glDisable(GL_BLEND);
glDepthMask(true);
grid_shader->disable();
}
Matrix44 Transform::toMatrix() {
Matrix44 m;
m.translate(position.getX(), position.getY(), position.getZ());
m *= rotation.toMatrix();
m.scale(scale.getX(), scale.getY(), scale.getZ());
return m;
}
void State::recalculate()
{
velocity = momentum * inverseMass;
angularVelocity = inverseInertiaTensor * angularMomentum;
orientation.normalize();
float4 fspin;
fspin.xyz = angularVelocity.vec;
fspin.w = 0.f;
spin = .5f * Quaternion(fspin) * orientation;
Matrix44 translation; translation.translate(position);
bodyToWorld = translation * orientation.matrix();
worldToBody = bodyToWorld.inverse();
}
Matrix44 Camera::get_perspective_matrix() const
{
Matrix44 perspective;
perspective.translate(-position_);
perspective.rotate_zx(angle_.y);
perspective.rotate_yz(angle_.x);
perspective.rotate_xy(angle_.z);
perspective.perspective( angle_of_view_,
width_,
height_,
near_clip_,
far_clip_);
return perspective;
}
void BoidsApp::setup()
{
Rand::randomize();
//setFullScreen(true);
shouldBeFullscreen = false;
mCenter = Vec3f( getWindowWidth() * 0.5f, getWindowHeight() * 0.5f, 0.0f );
mSaveFrames = false;
mIsRenderingPrint = false;
changeInterval = 15.0;
time(&lastChange);
gravity = false;
// SETUP CAMERA
mCameraDistance = 350.0f;
mEye = Vec3f( 0.0f, 0.0f, mCameraDistance );
mCenter = Vec3f::zero();
mUp = Vec3f::yAxis();
mCam.setPerspective( 75.0f, getWindowAspectRatio(), 5.0f, 5000.0f );
lastFrameTime = getElapsedSeconds();
deltaT = 0;
newFlock = 0;
mParticleTexture = gl::Texture( loadImage( loadResource( RES_PARTICLE ) ) );
// Initialize the OpenCV input (Below added RS 2010-11-15)
try {
//ci::Device device = Capture.
std::vector<boost::shared_ptr<Capture::Device> > devices = Capture::getDevices();
std::cout << "Capture Devices:" << std::endl;
std::vector<boost::shared_ptr<Capture::Device> >::iterator device_iterator;
//for(device_iterator=devices.begin(); device_iterator!=devices.end(); device_iterator++)
for(int i=0; i<devices.size();i++)
{
console() << "device " << i << ": " << devices[i]->getName() << std::endl;
}
//UNCOMMENT FOLLOWING LINE FOR BUILT-IN CAMERA
//capture = Capture(320,240);
//UNCOMMENT FOLLOWING LINE FOR UNIBRAIN OR WHATEVER
capture = Capture(320,240,devices[0]);//,devices[0]); //FIXME this is a dumb way to select a device
capture.start();
silhouetteDetector = new SilhouetteDetector(320,240);
} catch ( ... ) {
console() << "Failed to initialize capture device" << std::endl;
}
cvThreshholdLevel = 45;
// CREATE PARTICLE CONTROLLER
flock_one.addBoids( NUM_INITIAL_PARTICLES );
flock_two.addBoids( NUM_INITIAL_PARTICLES );
flock_one.setColor(ColorA( CM_RGB, 0.784, 0.0, 0.714, 1.0));
flock_one.silRepelStrength = -0.50f;
flock_two.setColor(ColorA( CM_RGB, 0.0, 1.0, 0.0, 1.0));
imageColor = ColorA( CM_RGB, 0.4, 0.4, 0.4, 1.0);
flock_one.addOtherFlock(&flock_two);
flock_two.addOtherFlock(&flock_one);
// SETUP PARAMS
mParams = params::InterfaceGl( "Flocking", Vec2i( 200, 310 ) );
mParams.addParam( "Scene Rotation", &mSceneRotation, "opened=1" );//
mParams.addSeparator();
mParams.addParam( "Fullscreen", &shouldBeFullscreen,"keyIncr=f" ); //FIXME
mParams.addSeparator();
mParams.addParam( "Eye Distance", &mCameraDistance, "min=100.0 max=2000.0 step=50.0 keyIncr=s keyDecr=w" );
//mParams.addParam( "Center Gravity", &flock_one.centralGravity, "keyIncr=g" );
//mParams.addParam( "Flatten", &flock_one.flatten, "keyIncr=f" );
mParams.addSeparator();
//mParams.addParam( "Zone Radius", &flock_one.zoneRadius, "min=10.0 max=100.0 step=1.0 keyIncr=z keyDecr=Z" );
// mParams.addParam( "Lower Thresh", &flock_one.lowerThresh, "min=0.025 max=1.0 step=0.025 keyIncr=l keyDecr=L" );
// mParams.addParam( "Higher Thresh", &flock_one.higherThresh, "min=0.025 max=1.0 step=0.025 keyIncr=h keyDecr=H" );
// mParams.addSeparator();
// mParams.addParam( "Attract Strength", &flock_one.attractStrength, "min=0.001 max=0.1 step=0.001 keyIncr=a keyDecr=A" );
// mParams.addParam( "Repel Strength", &flock_one.repelStrength, "min=0.001 max=0.1 step=0.001 keyIncr=r keyDecr=R" );
// mParams.addParam( "Orient Strength", &flock_one.orientStrength, "min=0.001 max=0.1 step=0.001 keyIncr=o keyDecr=O" );
// mParams.addSeparator();
mParams.addParam( "CV Threshhold", &silhouetteDetector->cvThresholdLevel, "min=0 max=255 step=1 keyIncr=t keyDecr=T" );
//setup transformation from camera space to opengl world space
imageToScreenMap.setToIdentity();
imageToScreenMap.translate(Vec3f(getWindowSize().x/2, getWindowSize().y/2, 0)); //translate over and down
imageToScreenMap.scale(Vec3f(-1*getWindowSize().x/320.0f, -1*getWindowSize().y/240.0f,1.0f)); //scale up
polygons = new vector<Vec2i_ptr_vec>();
currentBoidRuleNumber = 0;
// ** stuff to create boid rulesets ** //
// State 1: stuckOnYou - both flocks are attracted to the silhouette
BoidSysPair stuckOnYou;
stuckOnYou.flockOneProps.zoneRadius = 80.0f;
stuckOnYou.flockOneProps.lowerThresh = 0.5f;
stuckOnYou.flockOneProps.higherThresh = 0.8f;
stuckOnYou.flockOneProps.attractStrength = 0.004f;
stuckOnYou.flockOneProps.repelStrength = 0.01f;
stuckOnYou.flockOneProps.orientStrength = 0.01f;
stuckOnYou.flockOneProps.silThresh = 1000.0f;
stuckOnYou.flockOneProps.silRepelStrength = -0.50f;
stuckOnYou.flockOneProps.gravity = false;
stuckOnYou.flockOneProps.baseColor = ColorA( CM_RGB, 0.784, 0.0, 0.714, 1.0);
stuckOnYou.flockTwoProps=stuckOnYou.flockOneProps;
stuckOnYou.imageColor = ColorA( 0.08f, 0.0f, 0.1f, 1.0f);
boidRulesets.push_back(stuckOnYou);
// State 2: repel - both flocks are repeled by the silhouette
BoidSysPair repel;
repel.flockOneProps.zoneRadius = 80.0f;
repel.flockOneProps.lowerThresh = 0.5f;
repel.flockOneProps.higherThresh = 0.8f;
repel.flockOneProps.attractStrength = 0.004f;
repel.flockOneProps.repelStrength = 0.01f;
repel.flockOneProps.orientStrength = 0.01f;
repel.flockOneProps.silThresh = 500.0f;
repel.flockOneProps.silRepelStrength = 1.00f;
repel.flockOneProps.gravity = false;
repel.flockOneProps.baseColor = ColorA( CM_RGB, 0.157, 1.0, 0.0,1.0);
repel.flockTwoProps=repel.flockOneProps;
repel.imageColor = ColorA( 0.08f, 0.0f, 0.1f, 1.0f);
boidRulesets.push_back(repel);
//// State 3: grav - like repel, but with gravity added
BoidSysPair grav;
grav.flockOneProps=repel.flockOneProps;
grav.flockOneProps.gravity = true;
grav.flockOneProps.repelStrength = 0.005f;
grav.flockOneProps.baseColor = ColorA( CM_RGB, 0.157, 0.0, 1.0,1.0);
grav.flockTwoProps=grav.flockOneProps;
grav.imageColor = ColorA( 0.08f, 0.0f, 0.1f, 1.0f);
boidRulesets.push_back(grav);
//// State 4: diff - one flock is attracted to the silhouette and the other is repeled
BoidSysPair diff;
diff.flockOneProps=repel.flockOneProps;
diff.flockTwoProps=stuckOnYou.flockOneProps;
diff.imageColor = ColorA( 0.08f, 0.0f, 0.1f, 1.0f);
boidRulesets.push_back(diff);
}