void BezierBoundarySolver::_Sample5thOrderBezier(BezierBoundaryProblem* pProblem)
{
Eigen::Vector6d coefs, dCoefs, ddCoefs;
double dt = 1.0/pProblem->m_nDiscretization;
pProblem->m_vCurvatures.clear();
pProblem->m_vDistances.clear();
pProblem->m_vPts.clear();
pProblem->m_vCurvatures.reserve(pProblem->m_nDiscretization+1);
pProblem->m_vDistances.reserve(pProblem->m_nDiscretization+1);
pProblem->m_vPts.reserve(pProblem->m_nDiscretization+1);
pProblem->m_dDistance = 0;
Eigen::Vector2d lastPt(pProblem->m_xVals[0],pProblem->m_yVals[0]);
double t = 0;
for(int ii = 0 ; ii <= pProblem->m_nDiscretization ; ii++) {
_GetCoefs(coefs,dCoefs,ddCoefs,t);
//calculate the x and y position of the curve at this t
pProblem->m_vPts.push_back(Eigen::Vector2d(coefs.transpose()*pProblem->m_xVals, coefs.transpose()*pProblem->m_yVals));
pProblem->m_dDistance += (lastPt - pProblem->m_vPts.back()).norm();
lastPt = pProblem->m_vPts.back();
//calculate the derivatives of x and y
double dX = dCoefs.transpose()*pProblem->m_xVals;
double ddX = ddCoefs.transpose()*pProblem->m_xVals;
double dY = dCoefs.transpose()*pProblem->m_yVals;
double ddY = ddCoefs.transpose()*pProblem->m_yVals;
//and now calculate the curvature
double sq = sqrt(powi(dX*dX + dY*dY,3)); //(dX^2+dY^2)^(3/2)
double curvature = (dX*ddY-dY*ddX)/sq;
pProblem->m_vCurvatures.push_back(curvature*pProblem->m_dAggressiveness); //k = (dX*ddY - dY*ddX)/((dX^2 + dY^2)^(3/2))
pProblem->m_vDistances.push_back(pProblem->m_dDistance);
t += dt;
}
//dout("Sampling bezier. Final point " << pProblem->m_vPts.back().transpose());
}
void FlowData::load()
{
if(!mReady)
{
Timer timer(true);
XmlDocument * pointsDoc = new XmlDocument(dataSource);
XmlElement rootNode = pointsDoc->rootNode();
if(rootNode.hasChildren())
{
XmlElement tagNode = rootNode.findChild("tag");
XmlElement drawingNode = tagNode.findChild("drawing");
// Now get all the drawingNode's children.. and only worry about the stroke nodes.
if(drawingNode.hasChildren())
{
std::vector<XmlElement> strokeNodes = drawingNode.children();
// std::vector<XmlElement> strokeNodes = rootNode.xpath("//tag/drawing//stroke");
if(strokeNodes.size() > 0)
{
int totalPoints = 0;
// Now declare some variables to reuse in our loop.
FlowPoint lastPt(Vec2f::zero(), Vec2f::zero(), -1.f);
for(std::vector<XmlElement>::iterator it = strokeNodes.begin(); it < strokeNodes.end(); it++)
{
XmlElement strokeNode = *it;
if(strokeNode.name() == "stroke")
{
// Get all the point nodes.
std::vector<XmlElement> pointNodes = strokeNode.children();
// Create a new stroke
std::vector<FlowPoint> * stroke = new std::vector<FlowPoint>;
for(std::vector<XmlElement>::iterator it2 = pointNodes.begin(); it2 < pointNodes.end(); it2++)
{
XmlElement ptNode = *it2;
if(ptNode.name() == "pt")
{
std::string xVal = ptNode.findChild("x").value();
// float x = fromString( xVal );
float x = boost::lexical_cast<float>( xVal );
std::string yVal = ptNode.findChild("y").value();
// float y = fromString( yVal );
float y = boost::lexical_cast<float>( yVal );
std::string timeVal = ptNode.findChild("time").value();
// float time = fromString( timeVal );
float time = boost::lexical_cast<float>( timeVal );
x = mRemapMinX + (mRemapMaxX - mRemapMinX) * x;
y = mRemapMinY + (mRemapMaxY - mRemapMinY) * y;
Vec2f pos(x, y);
Vec2f vel;
if(lastPt.time > -1)
{
vel.x = pos.x - lastPt.getX();
vel.y = pos.y - lastPt.getY();
}
FlowPoint pt(pos, vel, time);
bool shouldAddPoint = false;
if(ignoreRedundantPositions == true)
{
if(lastPt.time > -1)
{
if(pt.getX() != lastPt.getX() && pt.getY() != lastPt.getY())
{
shouldAddPoint = true;
}
}
else
{
shouldAddPoint = true;
}
}
else
{
shouldAddPoint = true;
}
if(shouldAddPoint)
{
totalPoints++;
stroke->push_back(pt);
lastPt = FlowPoint(pt.pos, pt.vel, pt.time);
}
}
}
// Now see if our stroke is long enough.
if(stroke->size() > minNumberOfPointsInStroke)
{
mStrokes.push_back(stroke);
}
}
}
// We're done.
timer.stop();
std::cout << "FlowData :: GML file parsing complete. Elapsed seconds: " << toString( timer.getSeconds() ) << std::endl;
std::cout << "FlowData :: Total number of points: " << totalPoints << std::endl;
std::cout << "FlowData :: Number of strokes: " << mStrokes.size() << std::endl;
if(mStrokes.size() > 0)
mReady = true;
}
}
}
}
}
