void animateSceneCenterMovement() {
calculateBezier(points);
for(int i = 0; i < bezierPoints.size(); ++i) {
center.i = bezierPoints[i].x;
center.j = bezierPoints[i].y;
center.k = bezierPoints[i].z;
ObjectModel* n = removePolygons(original);
//pronadji matricu transformacije za postojece ociste i glediste
float* MatrixViewT;
float* MatrixProjectionT;
MakeTransform(eye, center, &MatrixViewT, &MatrixProjectionT);
float* Matrix;
MatrixMultiply(MatrixViewT, 4, 4, MatrixProjectionT, 4, 4, &Matrix);
ObjectModel* o = TransformCopy(n, Matrix);
o->normalize();
free(MatrixViewT); free(MatrixProjectionT); free(Matrix);
drawBody(o);
delete n; delete o;
sleep(1);
}
//glutSwapBuffers();
printf("Animacija gotova.\n");
}
int main(int argc, LiteSQL_Char **argv) {
int rc = parseArgs(argc,argv);
if (rc!=0)
{
Logger::error(help);
return -1;
}
if (options.printHelp) {
LiteSQL_cout << help << std::endl;
}
ObjectModel model;
try {
if (!model.loadFromFile(argv[argc-1]))
{
LiteSQL_String msg = LiteSQL_L( "could not load file '" ) + LiteSQL_String(argv[argc-1]) + LiteSQL_L( "'" );
Logger::error(msg);
return -1;
}
else
{
return generateCode(model);
}
}
catch (Except e) {
Logger::error(e);
return -1;
}
}
void DataMarkerLabel::slot_copyAllFrame()
{
ObjectModel *pModel = m_pEditData->getObjectModel();
ObjectItem *pItem = pModel->getObject(m_pEditData->getSelIndex());
if (!pItem)
{
return;
}
m_pEditData->setCopyAllFrameData(pItem, m_value);
}
void DataMarkerLabel::slot_deleteAllFrame()
{
ObjectModel *pModel = m_pEditData->getObjectModel();
ObjectItem *pItem = pModel->getObject(m_pEditData->getSelIndex());
if (!pItem)
{
return;
}
m_pEditData->cmd_deleteAllFrame(pItem->getIndex(), m_value);
}
void DataMarkerLabel::mousePressEvent(QMouseEvent *ev)
{
m_bMouseMove = false;
m_bPressLeft = false;
m_moveMode = kMoveMode_None;
#if 0
if ( ev->button() != Qt::LeftButton ) {
ev->ignore();
return ;
}
#endif
m_oldMousePos = ev->pos();
m_bPressLeft = true;
m_pressFrame = m_pressCurrentFrame = -1;
ObjectModel *pModel = m_pEditData->getObjectModel();
QModelIndex index = m_pEditData->getSelIndex();
ObjectItem *pItem = pModel->getItemFromIndex(index);
// 移動予定のフレームデータ取得
if (ev->y() < height() / 3)
{
if (pModel->isLayer(index))
{
for (int i = m_frameStart; i <= m_frameEnd; i++)
{
if (ev->pos().x() >= getX(i) && ev->pos().x() < getX(i + 1))
{
if (pItem->getFrameDataPtr(i))
{
m_pressCurrentFrame = m_pressFrame = i;
m_moveMode = kMoveMode_Layer;
}
break;
}
}
}
}
else if (pModel->isObject(index) && ev->y() < height() * 2 / 3)
{
for (int i = m_frameStart; i <= m_frameEnd; i++)
{
if (ev->pos().x() >= getX(i) && ev->pos().x() < getX(i + 1))
{
if (pItem->getFrameDataPtr(i, true))
{
m_pressCurrentFrame = m_pressFrame = i;
m_moveMode = kMoveMode_Object;
}
break;
}
}
}
}
ObjectModel *SUROpener::openSUR(QString fileName)
{
Parser parser(fileName);
ObjectModel *om = new ObjectModel();
for (int i=0; i<parser.getCoordinates().size(); i++)
{
Parser::Coordinate c = parser.getCoordinates().at(i);
om->addVertex(c.x, c.y, c.z);
}
for (int i=0; i<parser.getIncidences().size(); i++)
{
Parser::Incidence in= parser.getIncidences().at(i);
om->addTriangle(in.a-1, in.b-1, in.c-1);
}
om->normalize();
return om;
}
void renderScene() {
// ObjectModel* n = new ObjectModel(original);
ObjectModel* n = removePolygons(original);
//pronadji matricu transformacije za postojece ociste i glediste
float* MatrixViewT;
float* MatrixProjectionT;
MakeTransform(eye, center, &MatrixViewT, &MatrixProjectionT);
float* Matrix;
MatrixMultiply(MatrixViewT, 4, 4, MatrixProjectionT, 4, 4, &Matrix);
ObjectModel* o = TransformCopy(n, Matrix);
o->normalize();
free(MatrixViewT); free(MatrixProjectionT); free(Matrix);
drawBody(o);
delete n; delete o; //delete original;
}
bool Anm2DAsm::makeFromEditData2Inc(EditData &rEditData, QString qsFname)
{
qsFname = QFileInfo(qsFname).baseName().toUpper();
m_pModel = rEditData.getObjectModel();
if (m_bFlat)
{
ObjectModel *p = new ObjectModel();
p->copy(m_pModel);
p->flat();
m_pModel = p;
}
ObjectItem *pRoot = m_pModel->getItemFromIndex(QModelIndex());
// ObjectItem *pObj = pRoot->child(0);
addString("; このファイルはAnimationCreatorにより生成されました。\n");
addString("\n");
for (int i = 0; i < pRoot->childCount(); i++)
{
ObjectItem *pObj = pRoot->child(i);
addString("%define\t\tACO_" + qsFname + "__" + pObj->getName().replace(" ", "_").toUpper().toUtf8() + QString("\t\t%1").arg(i) + "\n");
}
addString("\n");
for (int i = 0; i < pRoot->childCount(); i++)
{
ObjectItem *pObj = pRoot->child(i);
QVector4D qv4AreaMin = QVector4D(FLT_MAX, FLT_MAX, FLT_MAX, 0);
QVector4D qv4AreaMax = QVector4D(FLT_MIN, FLT_MIN, FLT_MIN, 0);
QString qsLabel = "ACL_" + qsFname + "__" + pObj->getName().replace(" ", "_").toUpper().toUtf8() + "__";
addString("%define\t\t" + qsLabel + "ROOT\t\t0\n");
makeFromEditDataArea(pObj, &qv4AreaMin, &qv4AreaMax, true);
addString("\t\t; Area:" + QString("(%1, %2, %3)-(%4, %5, %6) size:(%7, %8, %9)").arg(qv4AreaMin.x(), 0, 'f').arg(qv4AreaMin.y(), 0, 'f').arg(qv4AreaMin.z(), 0, 'f').arg(qv4AreaMax.x(), 0, 'f').arg(qv4AreaMax.y(), 0, 'f').arg(qv4AreaMax.z(), 0, 'f').arg(qv4AreaMax.x() - qv4AreaMin.x(), 0, 'f').arg(qv4AreaMax.y() - qv4AreaMin.y(), 0, 'f').arg(qv4AreaMax.z() - qv4AreaMin.z(), 0, 'f') + "\n");
m_nCnt = 1;
for (int j = 0; j < pObj->childCount(); j++)
{
ObjectItem *pChild = pObj->child(j);
makeFromEditData2IncTip(qsLabel, pChild);
}
addString("\n");
}
return true;
}
// アニメ再生中
void AnimeGLWidget::drawLayers_Anime()
{
ObjectModel *pModel = m_pEditData->getObjectModel();
ObjectItem *pItem = pModel->getObject(m_pEditData->getSelIndex());
if (!pItem)
{
return;
}
if (m_pSetting->getUseZSort())
{
m_drawList.clear();
}
drawLayers(pItem);
if (m_pSetting->getUseZSort())
{
sortDrawList();
drawList();
}
}
int main(int argc, char** argv) {
if (argc != 2) {
printf("Trebam ulaznu .obj datoteku kao prvi i jedini argument komandne linije.\n");
exit(1);
}
char* filename = argv[1];
ObjectModel* obj = new ObjectModel(filename);
printf("Unosite naredbe\n");
float x, y, z;
int status;
char prompt[100];
while(1) {
fgets(prompt, sizeof(prompt), stdin);
if (!strcmp(prompt, "normiraj\n")) {
obj->normalize();
std::cout << obj->dumpToObj();
//getchar();
continue;
} else if (!strcmp(prompt, "quit\n")) {
break;
} else {
sscanf(prompt, "%f %f %f", &x, &y, &z);
obj->checkPoint(x, y, z, &status);
if (!status) {
printf("Tocka nije unutar tijela!\n");
} else if (status == 1) {
printf("Tocka je na rubu tijela\n");
} else {
printf("Tocka je unutar tijela\n");
}
}
}
return 0;
}
void DataMarkerLabel::paintEvent(QPaintEvent * /*event*/)
{
QPainter painter(this);
painter.drawRect(0, 0, width() - 1, height() - 1);
if (m_frameEnd - m_frameStart < 1)
{
return;
}
drawFrameBase(painter);
ObjectModel *pModel = m_pEditData->getObjectModel();
QModelIndex index = m_pEditData->getSelIndex();
ObjectItem *obj = pModel->getObject(index);
if (!obj)
{
return;
}
QList<int> frames;
drawLayer(obj->getIndex(), painter, index, frames);
if (m_pressCurrentFrame >= 0)
{
int x0 = getX(m_pressCurrentFrame);
int x1 = getX(m_pressCurrentFrame + 1);
int y0 = 0;
QColor col = QColor(255, 0, 0, 128);
if (pModel->isObject(index))
{
y0 = height() / 3;
col.setRed(255);
}
painter.fillRect(x0, y0, x1 - x0, height() / 3, col);
}
}
void generateQueryDensity(int seed, const std::string &link_name, const boost::shared_ptr<CollisionModel > &cm, const ObjectModel &om,
std::vector<QueryDensity::QueryDensityElement > &qd_vec) {
double sum_weights = 0.0;
int ori_iterations = 0;
std::mt19937 gen(seed);
for (int i = 0; i < qd_vec.size(); i++) {
Eigen::Vector3d p, p2;
Eigen::Vector4d q, q2;
Eigen::Vector2d r;
ori_iterations += om.sample(gen(), p, q, r);
if (!cm->sampleForR(gen(), link_name, r, p2, q2)) {
std::cout << "ERROR: cm->sampleForR" << std::endl;
}
double weight = cm->getMarginalDensityForR(link_name, r);
KDL::Frame T_O_F( KDL::Frame(KDL::Rotation::Quaternion(q(0), q(1), q(2), q(3)), KDL::Vector(p(0), p(1), p(2))) );
KDL::Frame T_C_F( KDL::Frame(KDL::Rotation::Quaternion(q2(0), q2(1), q2(2), q2(3)), KDL::Vector(p2(0), p2(1), p2(2))) );
KDL::Frame T_L_C;
if (!cm->getT_L_C(link_name, T_L_C)) {
std::cout << "ERROR: generateQueryDensity: " << link_name << std::endl;
}
KDL::Frame T_O_C = T_O_F * T_C_F.Inverse();
qd_vec[i].p_ = Eigen::Vector3d(T_O_C.p.x(), T_O_C.p.y(), T_O_C.p.z());
if (qd_vec[i].p_(2) != qd_vec[i].p_(2)) {
std::cout << "ERROR: generateQueryDensity: qd_vec[i]: " << qd_vec[i].p_.transpose() << std::endl;
std::cout << "T_O_C " << T_O_C << std::endl;
std::cout << "T_O_F " << T_O_F << std::endl;
std::cout << "T_C_F " << T_C_F << std::endl;
return;
}
double qx, qy, qz, qw;
T_O_C.M.GetQuaternion(qx, qy, qz, qw);
qd_vec[i].q_ = Eigen::Vector4d(qx, qy, qz, qw);
qd_vec[i].weight_ = weight;
sum_weights += qd_vec[i].weight_;
}
// normalize the weights
for (int i = 0; i < qd_vec.size(); i++) {
qd_vec[i].weight_ /= sum_weights;
}
std::cout << "generateQueryDensity: " << link_name << " total_it: " << qd_vec.size() << " ori_it: " << ori_iterations << " om.features: " << om.getFeaturesCount() << std::endl;
}
void LitesqlParser::onStartElement(const XML_Char *fullname,
const XML_Char **atts)
{
// Logger::report("starting " <<fullname );
history.push_back(m_parseState);
if (xmlStrEqual(fullname,(XML_Char*) Database::TAG ))
{
if (m_parseState!=ROOT)
{
m_parseState = ERROR;
}
else
{
m_parseState = DATABASE;
DatabasePtr pDb(new xml::Database);
pDb->name = safe((char*)xmlGetAttrValue(atts,"name"));
pDb->include = safe((char*)xmlGetAttrValue(atts,"include"));
pDb->nspace = safe((char*)xmlGetAttrValue(atts,"namespace"));
m_pObjectModel->db = pDb;
Logger::report("database = " , m_pObjectModel->db->name);
}
}
else if (xmlStrEqual(fullname,(XML_Char*)Object::TAG))
{
if (m_parseState!=DATABASE)
{
m_parseState = ERROR;
}
else
{
ObjectPtr pObj(obj = new Object( (char*)xmlGetAttrValue(atts,"name"),
safe((char*)xmlGetAttrValue(atts,"inherits"))));
m_pObjectModel->objects.push_back(pObj);
Logger::report("object = ",obj->name);
m_parseState = OBJECT;
}
}
else if (xmlStrEqual(fullname,(XML_Char*)Field::TAG))
{
Field* pNewField = new Field( (char*)xmlGetAttrValue(atts,"name"),
field_type(xmlGetAttrValue(atts,"type")),
safe( (char*)xmlGetAttrValue(atts,"default")),
field_indexed(xmlGetAttrValue(atts,"indexed")),
field_unique(xmlGetAttrValue(atts,"unique")),
field_length(xmlGetAttrValue(atts,"length"))
);
switch(m_parseState)
{
case OBJECT:
if (!obj) {
Logger::error("parsing field inside object, but currentObject == NULL ");
}
else {
Logger::report("field = ",obj->name);
Field::Ptr field(fld = pNewField);
obj->fields.push_back(field);
};
m_parseState = FIELD;
break;
case RELATION:
if (!rel) {
Logger::error("parsing field inside relation, but currentRelation == NULL ");
}
else
{
Field::Ptr field(rel_fld = pNewField);
rel->fields.push_back(field);
Logger::report("field = ",rel_fld->name );
}
m_parseState = FIELD;
break;
default:
delete pNewField;
m_parseState = ERROR;
}
}
else if (xmlStrEqual(fullname,(XML_Char*)Index::TAG))
{
Index::Ptr ptrIndex(new Index(index_unique(xmlGetAttrValue(atts,"unique"))));
switch (m_parseState)
{
case OBJECT:
idx = ptrIndex;
obj->indices.push_back(ptrIndex);
m_parseState = INDEX;
break;
case RELATION:
idx = ptrIndex;
rel->indices.push_back(ptrIndex);
m_parseState = INDEX;
break;
default:
m_parseState = ERROR;
}
}
else if (xmlStrEqual(fullname,(XML_Char*)IndexField::TAG))
{
if (m_parseState!=INDEX)
{
m_parseState = ERROR;
}
else
{
IndexField idxField((char*)xmlGetAttrValue(atts,"name"));
idx->fields.push_back(idxField);
}
m_parseState = INDEXFIELD;
}
else if (xmlStrEqual(fullname,(XML_Char*)Value::TAG))
{
if (m_parseState!=FIELD)
{
m_parseState = ERROR;
}
else
{
if (fld)
{
fld->value(Value((char*)xmlGetAttrValue(atts,"name"), (char*)xmlGetAttrValue(atts,"value")));
}
Logger::report("value = " );
}
}
else if (xmlStrEqual(fullname,(XML_Char*)Method::TAG))
{
if (m_parseState!=OBJECT)
{
m_parseState = ERROR;
}
else
{
Method::Ptr m(mtd = new Method( safe((char*)xmlGetAttrValue(atts,"name")),
safe((char*)xmlGetAttrValue(atts,"returntype"))
));
obj->methods.push_back(m);
m_parseState= METHOD;
Logger::report("method = ",mtd->name );
}
}
else if (xmlStrEqual(fullname,(XML_Char*)Param::TAG))
{
if (m_parseState!=METHOD)
{
m_parseState = ERROR;
}
else
{
char* pszName = (char*)xmlGetAttrValue(atts,"name");
mtd->param(Param(pszName,strdup((char*)xmlGetAttrValue(atts,"type"))));
m_parseState= PARAM;
Logger::report("param = ",pszName);
}
}
else if (xmlStrEqual(fullname,(XML_Char*)Relation::TAG))
{
if (m_parseState!=DATABASE)
{
m_parseState = ERROR;
}
else
{
Relation::Ptr ptrRelation(rel = new Relation( safe((char*)xmlGetAttrValue(atts,"id")),
safe((char*)xmlGetAttrValue(atts,"name")),
relation_unidir(xmlGetAttrValue(atts,"unidir"))));
m_pObjectModel->relations.push_back(ptrRelation);
Logger::report( "relation = " + ptrRelation->getName());
m_parseState = RELATION;
}
}
else if (xmlStrEqual(fullname,(XML_Char*)Relate::TAG))
{
if (m_parseState!=RELATION)
{
m_parseState = ERROR;
}
else
{
Relate::Ptr ptrRel(
new Relate( safe((char*)xmlGetAttrValue(atts,"object")),
relate_limit(xmlGetAttrValue(atts,"limit")),
relate_unique(xmlGetAttrValue(atts,"unique")),
safe((char*)xmlGetAttrValue(atts,"handle"))
)
);
rel->related.push_back(ptrRel);
Logger::report("relate = " );
}
}
else if (xmlStrEqual(fullname,(XML_Char*)"include"))
{
string filename((char*)xmlGetAttrValue(atts,"name"));
if (m_parseState!=DATABASE)
{
m_parseState = ERROR;
}
else
{
Logger::report("include \"" + filename + '"' );
ObjectModel includedModel;
if (!includedModel.loadFromFile(filename))
{
Logger::report("error on parsing included file \"" + filename + '"' );
}
m_pObjectModel->objects.insert(m_pObjectModel->objects.end(),includedModel.objects.begin(),includedModel.objects.end());
m_pObjectModel->relations.insert(m_pObjectModel->relations.end(),includedModel.relations.begin(),includedModel.relations.end());
m_parseState = INCLUDE;
}
}
else
{
m_parseState = UNKNOWN;
Logger::error("unknown = ",fullname );
}
}
bool Anm2DAsm::makeFromEditData(EditData &rEditData)
{
m_pModel = rEditData.getObjectModel();
if (m_bFlat)
{
ObjectModel *p = new ObjectModel();
p->copy(m_pModel);
p->flat();
m_pModel = p;
}
ObjectItem *pRoot = m_pModel->getItemFromIndex(QModelIndex());
// 画像をラベル化
// 未使用画像をスキップするテーブル構築
int nVram = 0;
{
for (int i = 0; i < rEditData.getImageDataListSize(); i++)
{
if (i >= KM_VRAM_MAX)
{
return false;
}
EditData::ImageData *p = rEditData.getImageData(i);
if (!p)
continue;
QFileInfo fi(p->fileName);
QString sImageLabel = fi.fileName();
sImageLabel = QString("ID_") + sImageLabel.replace(".", "_").toUpper();
sImageLabel = sImageLabel.toUtf8();
m_aqsVramID[i] = sImageLabel;
m_bUnused[i] = true;
}
for (int i = 0; i < pRoot->childCount(); i++)
{
ObjectItem *pObj = pRoot->child(i);
for (int j = 0; j < pObj->childCount(); j++)
{
ObjectItem *pChild = pObj->child(j);
subUnusedVramSkip(pChild);
}
}
for (int i = 0; i < rEditData.getImageDataListSize(); i++)
{
if (m_bUnused[i] == false)
nVram++;
}
}
addString(";----------------------------------------------------------------\n");
addString("; @kamefile\t" + pRoot->getName().toUtf8() + "\n");
addString(";---------------------------------------------------------------- HEADER\n");
addString("\t\t\%include\t\"../imageid.inc\"\n");
addString("\n");
addString(";---------------------------------------------------------------- DATA\n");
addString("%define\t\tNO_READ\t\t0\n");
addString("%define\t\tF32(f32)\t\t__float32__(f32)\n");
addString("data:\n");
addString(";---------------------------------------------------------------- ANM_HEAD\n");
addString("\t\t\tdb\t\t'ANM0'\t\t; ANM0\n");
addString("\t\t\tdd\t\t00000003h\t\t; uVersion\n");
addString("\t\t\tdd\t\t" + QString("%1").arg(/*rEditData.getImageDataListSize()*/ nVram) + "\t\t; nVram\n");
addString("\t\t\tdd\t\t.vram\t\t; pauVram\n");
addString("\t\t\tdd\t\t" + QString("%1").arg(pRoot->childCount()) + "\t\t; nObject\n");
addString("\t\t\tdd\t\t.object\t\t; paObj\n");
addString("\t\n");
addString("\t.vram:\n");
for (int i = 0; i < rEditData.getImageDataListSize(); i++)
{
if (i >= KM_VRAM_MAX)
{
return false;
}
if (m_bUnused[i])
continue;
EditData::ImageData *p = rEditData.getImageData(i);
if (!p)
continue;
QFileInfo fi(p->fileName);
QString sImageLabel = fi.fileName();
sImageLabel = QString("ID_") + sImageLabel.replace(".", "_").toUpper();
sImageLabel = sImageLabel.toUtf8();
m_aqsVramID[i] = sImageLabel;
addString("\t\t\tdd\t\t" + m_aqsVramID[i] + "\n");
}
addString("\t\n");
addString("\t.object:\n");
for (int i = 0; i < pRoot->childCount(); i++)
{
addString("\t\t\tdd\t\tanmobj" + QString("%1").arg(i) + "\n");
}
addString("\n");
for (int i = 0; i < pRoot->childCount(); i++)
{
ObjectItem *pObj = pRoot->child(i);
QVector4D qv4AreaMin = QVector4D(FLT_MAX, FLT_MAX, FLT_MAX, 0);
QVector4D qv4AreaMax = QVector4D(FLT_MIN, FLT_MIN, FLT_MIN, 0);
addString(";---------------------------------------------------------------- ANM_OBJ\n");
addString("; " + QString(pObj->getName().toUtf8()) + "\n");
addString("anmobj" + QString("%1").arg(i) + ":\n");
if (pObj->childCount())
{
if (pObj->getLoop())
{
addString("\t\t\tdd\t\t00000001h\t\t; bFlag\n");
}
else
{
addString("\t\t\tdd\t\t00000000h\t\t; bFlag\n");
}
// 最小矩形算出
for (int j = 0; j < pObj->childCount(); j++)
{
ObjectItem *pChild = pObj->child(j);
makeFromEditDataArea(pChild, &qv4AreaMin, &qv4AreaMax, true);
}
addString("\t\t\tdd\t\t" + QString("F32(%1), F32(%2), F32(%3), F32(%4)").arg(qv4AreaMin.x(), 0, 'f').arg(qv4AreaMin.y(), 0, 'f').arg(qv4AreaMax.x(), 0, 'f').arg(qv4AreaMax.y(), 0, 'f') + "\t\t; fvArea\n");
addString("\t\t\tdd\t\t" + QString("%1").arg(pObj->childCount()) + "\t\t; nTip\n");
addString("\t\t\tdd\t\t.tips\t\t; papTip\n");
addString("\t\n");
addString("\t.tips:\n");
for (int j = 0; j < pObj->childCount(); j++)
{
addString("\t\t\tdd\t\tobj" + QString("%1").arg(i) + "tip" + QString("%1").arg(j) + "\n");
}
addString("\n");
for (int j = 0; j < pObj->childCount(); j++)
{
QString qsLabel = "obj" + QString("%1").arg(i) + "tip" + QString("%1").arg(j);
ObjectItem *pChild = pObj->child(j);
if (!makeFromEditDataTip(qsLabel, pChild))
{
return false;
}
}
}
else
{
addString("\t\t\tdd\t\t00000000h\t\t; bFlag\n");
addString("\t\t\tdd\t\t0, 0, 0, 0\t\t; fvArea\n");
addString("\t\t\tdd\t\t" + QString("%1").arg(pObj->childCount()) + "\t\t; nTip\n");
addString("\t\t\tdd\t\tNO_READ\t\t; papTip\n");
}
}
addString("\n");
return true;
}
