void build(int x, int l,int r){
if(l == r){
scanf("%d%d",&xmi[x].first,&ymi[x].first);
xmi[x].second = ymi[x].second = l;
xma[x] = xmi[x];
yma[x] = ymi[x];
return;
}
int mid = (l+r)>>1;
build(x<<1,l,mid);
build(x<<1|1,mid+1,r);
xmi[x] = minP(xmi[x<<1], xmi[x<<1|1]);
xma[x] = maxP(xma[x<<1], xma[x<<1|1]);
ymi[x] = minP(ymi[x<<1], ymi[x<<1|1]);
yma[x] = maxP(yma[x<<1], yma[x<<1|1]);
}
pair askxmi(int x,int l,int r,int c,int d){
if(c>d)
return newPair(inf,0);
if(c<=l&&r<=d)return xmi[x];
int mid=(l+r)>>1;
pair t = newPair(inf,0);
if(c<=mid)
t=askxmi(x<<1,l,mid,c,d);
if(d>mid)
t=minP(t, askxmi(x<<1|1,mid+1,r,c,d));
return t;
}
/**
* this gets a normal non-angle-aligned bounding box for a set of points
* or a contour.
*/
ofRectangle tricks::math::getBoundingBox(vector<ofVec2f> &contour) {
ofVec2f minP(FLT_MAX, FLT_MAX);
ofVec2f maxP(FLT_MIN, FLT_MIN);
for(int i = 0; i < contour.size(); i++) {
if(contour[i].x>maxP.x) maxP.x = contour[i].x;
if(contour[i].y>maxP.y) maxP.y = contour[i].y;
if(contour[i].x<minP.x) minP.x = contour[i].x;
if(contour[i].y<minP.y) minP.y = contour[i].y;
}
return ofRectangle(minP.x, minP.y, maxP.x - minP.x, maxP.y - minP.y);
}
int maxProfit(vector<int> &prices) {
vector<int> minP(prices.size(), INT_MAX);
int res = 0;
for(int i=0;i<minP.size();i++) {
if(i==0) {
minP[i] = prices[i];
} else {
minP[i] = min(minP[i-1], prices[i]);
}
}
int maxP = 0;
for(int i=minP.size()-1;i>=1;i--) {
if(i==minP.size()-1) {
maxP = prices[i];
res = max(res, maxP-minP[i-1]);
} else {
maxP = max(maxP, prices[i]);
res = max(res, maxP-minP[i-1]);
}
}
return res;
}
Point getPupilPointFromGradient(Mat gx) {
double maxVal = FLT_MIN;
Point2i maxP(0,0);
double minVal = FLT_MAX;
Point2i minP(0, 0);
double * v;
for (int i = 0; i < gx.rows; i++) {
v = gx.ptr<double>(i);
for (int j = 0; j < gx.cols; j++) {
if (v[j] > maxVal) {
maxVal = v[j];
maxP.x = j;
maxP.y = i;
}
else if (v[j] < minVal) {
minVal = v[j];
minP.x = j;
minP.y = i;
}
}
}
return Point((minP.x + maxP.x) / 2, (minP.y + maxP.y) / 2);
}
dgInt32 UpdateBox (const dgVector* const position, const dgInt32* const faceIndices)
{
dgVector p0;
dgVector p1;
TriangleBox (position, faceIndices, p0, p1);
p0 = p0.CompProduct3(dgVector (DG_DEFORMABLE_PADDING, DG_DEFORMABLE_PADDING, DG_DEFORMABLE_PADDING, dgFloat32 (0.0f)));
p1 = p1.CompProduct3(dgVector (DG_DEFORMABLE_PADDING, DG_DEFORMABLE_PADDING, DG_DEFORMABLE_PADDING, dgFloat32 (0.0f)));
dgVector minP (dgFloor (p0.m_x) * DG_DEFORMABLE_INV_PADDING, dgFloor (p0.m_y) * DG_DEFORMABLE_INV_PADDING, dgFloor (p0.m_z) * DG_DEFORMABLE_INV_PADDING, dgFloat32(0.0f));
dgVector maxP (dgFloor (p1.m_x + dgFloat32 (1.0f)) * DG_DEFORMABLE_INV_PADDING,
dgFloor (p1.m_y + dgFloat32 (1.0f)) * DG_DEFORMABLE_INV_PADDING,
dgFloor (p1.m_z + dgFloat32 (1.0f)) * DG_DEFORMABLE_INV_PADDING, dgFloat32(0.0f));
dgInt32 state = dgCompareBox (minP, maxP, m_minBox, m_maxBox);
if (state) {
m_minBox = minP;
m_maxBox = maxP;
dgVector side0 (m_maxBox - m_minBox);
dgVector side1 (side0.m_y, side0.m_z, side0.m_x, dgFloat32 (0.0f));
m_surfaceArea = side0 % side1;
}
return state;
}
dgAABBPointTree4d* dgConvexHull4d::BuildTree (dgAABBPointTree4d* const parent, dgHullVector* const points, dgInt32 count, dgInt32 baseIndex, dgInt8** memoryPool, dgInt32& maxMemSize) const
{
dgAABBPointTree4d* tree = NULL;
dgAssert (count);
dgBigVector minP ( dgFloat32 (1.0e15f), dgFloat32 (1.0e15f), dgFloat32 (1.0e15f), dgFloat32 (1.0e15f));
dgBigVector maxP (-dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f));
if (count <= DG_VERTEX_CLUMP_SIZE_4D) {
dgAABBPointTree4dClump* const clump = new (*memoryPool) dgAABBPointTree4dClump;
*memoryPool += sizeof (dgAABBPointTree4dClump);
maxMemSize -= sizeof (dgAABBPointTree4dClump);
dgAssert (maxMemSize >= 0);
dgAssert (clump);
clump->m_count = count;
for (dgInt32 i = 0; i < count; i ++) {
clump->m_indices[i] = i + baseIndex;
const dgBigVector& p = points[i];
minP.m_x = dgMin (p.m_x, minP.m_x);
minP.m_y = dgMin (p.m_y, minP.m_y);
minP.m_z = dgMin (p.m_z, minP.m_z);
minP.m_w = dgMin (p.m_w, minP.m_w);
maxP.m_x = dgMax (p.m_x, maxP.m_x);
maxP.m_y = dgMax (p.m_y, maxP.m_y);
maxP.m_z = dgMax (p.m_z, maxP.m_z);
maxP.m_w = dgMax (p.m_w, maxP.m_w);
}
clump->m_left = NULL;
clump->m_right = NULL;
tree = clump;
} else {
dgBigVector median (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
dgBigVector varian (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
for (dgInt32 i = 0; i < count; i ++) {
const dgBigVector& p = points[i];
minP.m_x = dgMin (p.m_x, minP.m_x);
minP.m_y = dgMin (p.m_y, minP.m_y);
minP.m_z = dgMin (p.m_z, minP.m_z);
minP.m_w = dgMin (p.m_w, minP.m_w);
maxP.m_x = dgMax (p.m_x, maxP.m_x);
maxP.m_y = dgMax (p.m_y, maxP.m_y);
maxP.m_z = dgMax (p.m_z, maxP.m_z);
maxP.m_w = dgMax (p.m_w, maxP.m_w);
median = median + p;
varian = varian + p.CompProduct4(p);
}
varian = varian.Scale4 (dgFloat32 (count)) - median.CompProduct4(median);
dgInt32 index = 0;
dgFloat64 maxVarian = dgFloat64 (-1.0e10f);
for (dgInt32 i = 0; i < 4; i ++) {
if (varian[i] > maxVarian) {
index = i;
maxVarian = varian[i];
}
}
dgBigVector center = median.Scale4 (dgFloat64 (1.0f) / dgFloat64 (count));
dgFloat64 test = center[index];
dgInt32 i0 = 0;
dgInt32 i1 = count - 1;
do {
for (; i0 <= i1; i0 ++) {
dgFloat64 val = points[i0][index];
if (val > test) {
break;
}
}
for (; i1 >= i0; i1 --) {
dgFloat64 val = points[i1][index];
if (val < test) {
break;
}
}
if (i0 < i1) {
dgSwap(points[i0], points[i1]);
i0++;
i1--;
}
} while (i0 <= i1);
if (i0 == 0){
i0 = count / 2;
}
if (i0 >= (count - 1)){
i0 = count / 2;
}
tree = new (*memoryPool) dgAABBPointTree4d;
*memoryPool += sizeof (dgAABBPointTree4d);
maxMemSize -= sizeof (dgAABBPointTree4d);
dgAssert (maxMemSize >= 0);
dgAssert (i0);
dgAssert (count - i0);
tree->m_left = BuildTree (tree, points, i0, baseIndex, memoryPool, maxMemSize);
tree->m_right = BuildTree (tree, &points[i0], count - i0, i0 + baseIndex, memoryPool, maxMemSize);
}
dgAssert (tree);
tree->m_parent = parent;
tree->m_box[0] = minP - dgBigVector (dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f));
tree->m_box[1] = maxP + dgBigVector (dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f), dgFloat64 (1.0e-3f));
return tree;
}
bool dgCollisionConvexHull::Create (dgInt32 count, dgInt32 strideInBytes, const dgFloat32* const vertexArray, dgFloat32 tolerance)
{
dgInt32 stride = strideInBytes / sizeof (dgFloat32);
dgStack<dgFloat64> buffer(3 * 2 * count);
for (dgInt32 i = 0; i < count; i ++) {
buffer[i * 3 + 0] = vertexArray[i * stride + 0];
buffer[i * 3 + 1] = vertexArray[i * stride + 1];
buffer[i * 3 + 2] = vertexArray[i * stride + 2];
}
dgConvexHull3d* convexHull = new (GetAllocator()) dgConvexHull3d (GetAllocator(), &buffer[0], 3 * sizeof (dgFloat64), count, tolerance);
if (!convexHull->GetCount()) {
// this is a degenerated hull hull to add some thickness and for a thick plane
delete convexHull;
dgStack<dgVector> tmp(3 * count);
for (dgInt32 i = 0; i < count; i ++) {
tmp[i][0] = dgFloat32 (buffer[i*3 + 0]);
tmp[i][1] = dgFloat32 (buffer[i*3 + 1]);
tmp[i][2] = dgFloat32 (buffer[i*3 + 2]);
tmp[i][2] = dgFloat32 (0.0f);
}
dgObb sphere;
sphere.SetDimensions (&tmp[0][0], sizeof (dgVector), count);
dgInt32 index = 0;
dgFloat32 size = dgFloat32 (1.0e10f);
for (dgInt32 i = 0; i < 3; i ++) {
if (sphere.m_size[i] < size) {
index = i;
size = sphere.m_size[i];
}
}
dgVector normal (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
normal[index] = dgFloat32 (1.0f);
dgVector step = sphere.RotateVector (normal.Scale3 (dgFloat32 (0.05f)));
for (dgInt32 i = 0; i < count; i ++) {
dgVector p1 (tmp[i] + step);
dgVector p2 (tmp[i] - step);
buffer[i * 3 + 0] = p1.m_x;
buffer[i * 3 + 1] = p1.m_y;
buffer[i * 3 + 2] = p1.m_z;
buffer[(i + count) * 3 + 0] = p2.m_x;
buffer[(i + count) * 3 + 1] = p2.m_y;
buffer[(i + count) * 3 + 2] = p2.m_z;
}
count *= 2;
convexHull = new (GetAllocator()) dgConvexHull3d (GetAllocator(), &buffer[0], 3 * sizeof (dgFloat64), count, tolerance);
if (!convexHull->GetCount()) {
delete convexHull;
return false;
}
}
// check for degenerated faces
for (bool success = false; !success; ) {
success = true;
const dgBigVector* const hullVertexArray = convexHull->GetVertexPool();
dgStack<dgInt8> mask(convexHull->GetVertexCount());
memset (&mask[0], 1, mask.GetSizeInBytes());
for (dgConvexHull3d::dgListNode* node = convexHull->GetFirst(); node; node = node->GetNext()) {
dgConvexHull3DFace& face = node->GetInfo();
const dgBigVector& p0 = hullVertexArray[face.m_index[0]];
const dgBigVector& p1 = hullVertexArray[face.m_index[1]];
const dgBigVector& p2 = hullVertexArray[face.m_index[2]];
dgBigVector p1p0 (p1 - p0);
dgBigVector p2p0 (p2 - p0);
dgBigVector normal (p2p0 * p1p0);
dgFloat64 mag2 = normal % normal;
if (mag2 < dgFloat64 (1.0e-6f * 1.0e-6f)) {
success = false;
dgInt32 index = -1;
dgBigVector p2p1 (p2 - p1);
dgFloat64 dist10 = p1p0 % p1p0;
dgFloat64 dist20 = p2p0 % p2p0;
dgFloat64 dist21 = p2p1 % p2p1;
if ((dist10 >= dist20) && (dist10 >= dist21)) {
index = 2;
} else if ((dist20 >= dist10) && (dist20 >= dist21)) {
index = 1;
} else if ((dist21 >= dist10) && (dist21 >= dist20)) {
index = 0;
}
dgAssert (index != -1);
mask[face.m_index[index]] = 0;
}
}
if (!success) {
dgInt32 count = 0;
dgInt32 vertexCount = convexHull->GetVertexCount();
for (dgInt32 i = 0; i < vertexCount; i ++) {
if (mask[i]) {
buffer[count * 3 + 0] = hullVertexArray[i].m_x;
buffer[count * 3 + 1] = hullVertexArray[i].m_y;
buffer[count * 3 + 2] = hullVertexArray[i].m_z;
count ++;
}
}
delete convexHull;
convexHull = new (GetAllocator()) dgConvexHull3d (GetAllocator(), &buffer[0], 3 * sizeof (dgFloat64), count, tolerance);
}
}
dgAssert (convexHull);
dgInt32 vertexCount = convexHull->GetVertexCount();
if (vertexCount < 4) {
delete convexHull;
return false;
}
const dgBigVector* const hullVertexArray = convexHull->GetVertexPool();
dgPolyhedra polyhedra (GetAllocator());
polyhedra.BeginFace();
for (dgConvexHull3d::dgListNode* node = convexHull->GetFirst(); node; node = node->GetNext()) {
dgConvexHull3DFace& face = node->GetInfo();
polyhedra.AddFace (face.m_index[0], face.m_index[1], face.m_index[2]);
}
polyhedra.EndFace();
if (vertexCount > 4) {
// bool edgeRemoved = false;
// while (RemoveCoplanarEdge (polyhedra, hullVertexArray)) {
// edgeRemoved = true;
// }
// if (edgeRemoved) {
// if (!CheckConvex (polyhedra, hullVertexArray)) {
// delete convexHull;
// return false;
// }
// }
while (RemoveCoplanarEdge (polyhedra, hullVertexArray));
}
dgStack<dgInt32> vertexMap(vertexCount);
memset (&vertexMap[0], -1, vertexCount * sizeof (dgInt32));
dgInt32 mark = polyhedra.IncLRU();
dgPolyhedra::Iterator iter (polyhedra);
for (iter.Begin(); iter; iter ++) {
dgEdge* const edge = &iter.GetNode()->GetInfo();
if (edge->m_mark != mark) {
if (vertexMap[edge->m_incidentVertex] == -1) {
vertexMap[edge->m_incidentVertex] = m_vertexCount;
m_vertexCount ++;
}
dgEdge* ptr = edge;
do {
ptr->m_mark = mark;
ptr->m_userData = m_edgeCount;
m_edgeCount ++;
ptr = ptr->m_twin->m_next;
} while (ptr != edge) ;
}
}
m_vertex = (dgVector*) m_allocator->Malloc (dgInt32 (m_vertexCount * sizeof (dgVector)));
m_simplex = (dgConvexSimplexEdge*) m_allocator->Malloc (dgInt32 (m_edgeCount * sizeof (dgConvexSimplexEdge)));
m_vertexToEdgeMapping = (const dgConvexSimplexEdge**) m_allocator->Malloc (dgInt32 (m_vertexCount * sizeof (dgConvexSimplexEdge*)));
for (dgInt32 i = 0; i < vertexCount; i ++) {
if (vertexMap[i] != -1) {
m_vertex[vertexMap[i]] = hullVertexArray[i];
m_vertex[vertexMap[i]].m_w = dgFloat32 (0.0f);
}
}
delete convexHull;
vertexCount = m_vertexCount;
mark = polyhedra.IncLRU();;
for (iter.Begin(); iter; iter ++) {
dgEdge* const edge = &iter.GetNode()->GetInfo();
if (edge->m_mark != mark) {
dgEdge *ptr = edge;
do {
ptr->m_mark = mark;
dgConvexSimplexEdge* const simplexPtr = &m_simplex[ptr->m_userData];
simplexPtr->m_vertex = vertexMap[ptr->m_incidentVertex];
simplexPtr->m_next = &m_simplex[ptr->m_next->m_userData];
simplexPtr->m_prev = &m_simplex[ptr->m_prev->m_userData];
simplexPtr->m_twin = &m_simplex[ptr->m_twin->m_userData];
ptr = ptr->m_twin->m_next;
} while (ptr != edge) ;
}
}
m_faceCount = 0;
dgStack<char> faceMarks (m_edgeCount);
memset (&faceMarks[0], 0, m_edgeCount * sizeof (dgInt8));
dgStack<dgConvexSimplexEdge*> faceArray (m_edgeCount);
for (dgInt32 i = 0; i < m_edgeCount; i ++) {
dgConvexSimplexEdge* const face = &m_simplex[i];
if (!faceMarks[i]) {
dgConvexSimplexEdge* ptr = face;
do {
dgAssert ((ptr - m_simplex) >= 0);
faceMarks[dgInt32 (ptr - m_simplex)] = '1';
ptr = ptr->m_next;
} while (ptr != face);
faceArray[m_faceCount] = face;
m_faceCount ++;
}
}
m_faceArray = (dgConvexSimplexEdge **) m_allocator->Malloc(dgInt32 (m_faceCount * sizeof(dgConvexSimplexEdge *)));
memcpy (m_faceArray, &faceArray[0], m_faceCount * sizeof(dgConvexSimplexEdge *));
if (vertexCount > DG_CONVEX_VERTEX_CHUNK_SIZE) {
// create a face structure for support vertex
dgStack<dgConvexBox> boxTree (vertexCount);
dgTree<dgVector,dgInt32> sortTree(GetAllocator());
dgStack<dgTree<dgVector,dgInt32>::dgTreeNode*> vertexNodeList(vertexCount);
dgVector minP ( dgFloat32 (1.0e15f), dgFloat32 (1.0e15f), dgFloat32 (1.0e15f), dgFloat32 (0.0f));
dgVector maxP (-dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f), dgFloat32 (0.0f));
for (dgInt32 i = 0; i < vertexCount; i ++) {
const dgVector& p = m_vertex[i];
vertexNodeList[i] = sortTree.Insert (p, i);
minP.m_x = dgMin (p.m_x, minP.m_x);
minP.m_y = dgMin (p.m_y, minP.m_y);
minP.m_z = dgMin (p.m_z, minP.m_z);
maxP.m_x = dgMax (p.m_x, maxP.m_x);
maxP.m_y = dgMax (p.m_y, maxP.m_y);
maxP.m_z = dgMax (p.m_z, maxP.m_z);
}
boxTree[0].m_box[0] = minP;
boxTree[0].m_box[1] = maxP;
boxTree[0].m_leftBox = -1;
boxTree[0].m_rightBox = -1;
boxTree[0].m_vertexStart = 0;
boxTree[0].m_vertexCount = vertexCount;
dgInt32 boxCount = 1;
dgInt32 stack = 1;
dgInt32 stackBoxPool[64];
stackBoxPool[0] = 0;
while (stack) {
stack --;
dgInt32 boxIndex = stackBoxPool[stack];
dgConvexBox& box = boxTree[boxIndex];
if (box.m_vertexCount > DG_CONVEX_VERTEX_CHUNK_SIZE) {
dgVector median (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
dgVector varian (dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f), dgFloat32 (0.0f));
for (dgInt32 i = 0; i < box.m_vertexCount; i ++) {
dgVector& p = vertexNodeList[box.m_vertexStart + i]->GetInfo();
minP.m_x = dgMin (p.m_x, minP.m_x);
minP.m_y = dgMin (p.m_y, minP.m_y);
minP.m_z = dgMin (p.m_z, minP.m_z);
maxP.m_x = dgMax (p.m_x, maxP.m_x);
maxP.m_y = dgMax (p.m_y, maxP.m_y);
maxP.m_z = dgMax (p.m_z, maxP.m_z);
median += p;
varian += p.CompProduct3 (p);
}
varian = varian.Scale3 (dgFloat32 (box.m_vertexCount)) - median.CompProduct3(median);
dgInt32 index = 0;
dgFloat64 maxVarian = dgFloat64 (-1.0e10f);
for (dgInt32 i = 0; i < 3; i ++) {
if (varian[i] > maxVarian) {
index = i;
maxVarian = varian[i];
}
}
dgVector center = median.Scale3 (dgFloat32 (1.0f) / dgFloat32 (box.m_vertexCount));
dgFloat32 test = center[index];
dgInt32 i0 = 0;
dgInt32 i1 = box.m_vertexCount - 1;
do {
for (; i0 <= i1; i0 ++) {
dgFloat32 val = vertexNodeList[box.m_vertexStart + i0]->GetInfo()[index];
if (val > test) {
break;
}
}
for (; i1 >= i0; i1 --) {
dgFloat32 val = vertexNodeList[box.m_vertexStart + i1]->GetInfo()[index];
if (val < test) {
break;
}
}
if (i0 < i1) {
dgSwap(vertexNodeList[box.m_vertexStart + i0], vertexNodeList[box.m_vertexStart + i1]);
i0++;
i1--;
}
} while (i0 <= i1);
if (i0 == 0){
i0 = box.m_vertexCount / 2;
}
if (i0 >= (box.m_vertexCount - 1)){
i0 = box.m_vertexCount / 2;
}
{
dgVector minP ( dgFloat32 (1.0e15f), dgFloat32 (1.0e15f), dgFloat32 (1.0e15f), dgFloat32 (0.0f));
dgVector maxP (-dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f), dgFloat32 (0.0f));
for (dgInt32 i = i0; i < box.m_vertexCount; i ++) {
const dgVector& p = vertexNodeList[box.m_vertexStart + i]->GetInfo();
minP.m_x = dgMin (p.m_x, minP.m_x);
minP.m_y = dgMin (p.m_y, minP.m_y);
minP.m_z = dgMin (p.m_z, minP.m_z);
maxP.m_x = dgMax (p.m_x, maxP.m_x);
maxP.m_y = dgMax (p.m_y, maxP.m_y);
maxP.m_z = dgMax (p.m_z, maxP.m_z);
}
box.m_rightBox = boxCount;
boxTree[boxCount].m_box[0] = minP;
boxTree[boxCount].m_box[1] = maxP;
boxTree[boxCount].m_leftBox = -1;
boxTree[boxCount].m_rightBox = -1;
boxTree[boxCount].m_vertexStart = box.m_vertexStart + i0;
boxTree[boxCount].m_vertexCount = box.m_vertexCount - i0;
stackBoxPool[stack] = boxCount;
stack ++;
boxCount ++;
}
{
dgVector minP ( dgFloat32 (1.0e15f), dgFloat32 (1.0e15f), dgFloat32 (1.0e15f), dgFloat32 (0.0f));
dgVector maxP (-dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f), -dgFloat32 (1.0e15f), dgFloat32 (0.0f));
for (dgInt32 i = 0; i < i0; i ++) {
const dgVector& p = vertexNodeList[box.m_vertexStart + i]->GetInfo();
minP.m_x = dgMin (p.m_x, minP.m_x);
minP.m_y = dgMin (p.m_y, minP.m_y);
minP.m_z = dgMin (p.m_z, minP.m_z);
maxP.m_x = dgMax (p.m_x, maxP.m_x);
maxP.m_y = dgMax (p.m_y, maxP.m_y);
maxP.m_z = dgMax (p.m_z, maxP.m_z);
}
box.m_leftBox = boxCount;
boxTree[boxCount].m_box[0] = minP;
boxTree[boxCount].m_box[1] = maxP;
boxTree[boxCount].m_leftBox = -1;
boxTree[boxCount].m_rightBox = -1;
boxTree[boxCount].m_vertexStart = box.m_vertexStart;
boxTree[boxCount].m_vertexCount = i0;
stackBoxPool[stack] = boxCount;
stack ++;
boxCount ++;
}
}
}
for (dgInt32 i = 0; i < m_vertexCount; i ++) {
m_vertex[i] = vertexNodeList[i]->GetInfo();
vertexNodeList[i]->GetInfo().m_w = dgFloat32 (i);
}
m_supportTreeCount = boxCount;
m_supportTree = (dgConvexBox*) m_allocator->Malloc(dgInt32 (boxCount * sizeof(dgConvexBox)));
memcpy (m_supportTree, &boxTree[0], boxCount * sizeof(dgConvexBox));
for (dgInt32 i = 0; i < m_edgeCount; i ++) {
dgConvexSimplexEdge* const ptr = &m_simplex[i];
dgTree<dgVector,dgInt32>::dgTreeNode* const node = sortTree.Find(ptr->m_vertex);
dgInt32 index = dgInt32 (node->GetInfo().m_w);
ptr->m_vertex = dgInt16 (index);
}
}
for (dgInt32 i = 0; i < m_edgeCount; i ++) {
dgConvexSimplexEdge* const edge = &m_simplex[i];
m_vertexToEdgeMapping[edge->m_vertex] = edge;
}
SetVolumeAndCG ();
return true;
}
void App::onGraphics3D(RenderDevice* rd, Array<shared_ptr<Surface> >& allSurfaces) {
// This implementation is equivalent to the default GApp's. It is repeated here to make it
// easy to modify rendering. If you don't require custom rendering, just delete this
// method from your application and rely on the base class.
if (!scene()) {
if ((submitToDisplayMode() == SubmitToDisplayMode::MAXIMIZE_THROUGHPUT) && (!rd->swapBuffersAutomatically())) {
swapBuffers();
}
rd->clear();
rd->pushState(); {
rd->setProjectionAndCameraMatrix(activeCamera()->projection(), activeCamera()->frame());
drawDebugShapes();
} rd->popState();
return;
}
updateAudioData();
if (System::time() - m_lastInterestingEventTime > 10.0) {
if (Random::common().uniform() < 0.001f) {
if (m_sonicSculpturePieces.size() > 0) {
int index = Random::common().integer(0, m_sonicSculpturePieces.size() - 1);
generatePlayPulse(m_sonicSculpturePieces[index]);
m_lastInterestingEventTime = System::time();
}
}
}
handlePlayPulses();
GBuffer::Specification gbufferSpec = m_gbufferSpecification;
extendGBufferSpecification(gbufferSpec);
m_gbuffer->setSpecification(gbufferSpec);
m_gbuffer->resize(m_framebuffer->width(), m_framebuffer->height());
m_gbuffer->prepare(rd, activeCamera(), 0, -(float)previousSimTimeStep(), m_settings.depthGuardBandThickness, m_settings.colorGuardBandThickness);
m_renderer->render(rd, m_framebuffer, m_depthPeelFramebuffer, scene()->lightingEnvironment(), m_gbuffer, allSurfaces);
// Debug visualizations and post-process effects
rd->pushState(m_framebuffer); {
// Call to make the App show the output of debugDraw(...)
rd->setProjectionAndCameraMatrix(activeCamera()->projection(), activeCamera()->frame());
for (auto& piece : m_sonicSculpturePieces) {
piece->render(rd, scene()->lightingEnvironment());
}
if (notNull(m_currentSonicSculpturePiece)) {
m_currentSonicSculpturePiece->render(rd, scene()->lightingEnvironment());
}
for (int i = m_playPlanes.size() - 1; i >= 0; --i) {
const PlayPlane& pp = m_playPlanes[i];
if (pp.endWindowIndex < g_sampleWindowIndex) {
m_playPlanes.remove(i);
}
Point3 point = pp.origin + (pp.direction * METERS_PER_SAMPLE_WINDOW * (g_sampleWindowIndex-pp.beginWindowIndex));
Color4 solidColor(1.0f, .02f, .03f, .15f);
// Plane plane(point, pp.direction);
// Draw::plane(plane, rd, solidColor, Color4::clear());
CFrame planeFrame = pp.frame;
planeFrame.translation = point;
Vector3 minP(finf(), finf(), finf());
Vector3 maxP(-finf(), -finf(), -finf());
for (auto& piece : m_sonicSculpturePieces) {
piece->minMaxValue(planeFrame, minP, maxP);
}
Box b(Vector3(minP.xy()-Vector2(3,3), 0.0f), Vector3(maxP.xy() + Vector2(3, 3), 0.1f), planeFrame);
Draw::box(b, rd, solidColor, Color4::clear());
}
drawDebugShapes();
const shared_ptr<Entity>& selectedEntity = (notNull(developerWindow) && notNull(developerWindow->sceneEditorWindow)) ? developerWindow->sceneEditorWindow->selectedEntity() : shared_ptr<Entity>();
scene()->visualize(rd, selectedEntity, allSurfaces, sceneVisualizationSettings(), activeCamera());
// Post-process special effects
m_depthOfField->apply(rd, m_framebuffer->texture(0), m_framebuffer->texture(Framebuffer::DEPTH), activeCamera(), m_settings.depthGuardBandThickness - m_settings.colorGuardBandThickness);
m_motionBlur->apply(rd, m_framebuffer->texture(0), m_gbuffer->texture(GBuffer::Field::SS_EXPRESSIVE_MOTION),
m_framebuffer->texture(Framebuffer::DEPTH), activeCamera(),
m_settings.depthGuardBandThickness - m_settings.colorGuardBandThickness);
} rd->popState();
rd->push2D(m_framebuffer); {
rd->setBlendFunc(RenderDevice::BLEND_SRC_ALPHA, RenderDevice::BLEND_ONE_MINUS_SRC_ALPHA);
Array<SoundInstance> soundInstances;
Synthesizer::global->getSoundInstances(soundInstances);
int xOffset = 10;
Vector2 dim(256,100);
for (int i = 0; i < soundInstances.size(); ++i) {
int yOffset = rd->height() - 120 - (120 * i);
Draw::rect2D(Rect2D::xywh(Point2(xOffset, yOffset), dim), rd, Color3::white(), soundInstances[i].displayTexture());
float playheadAlpha = ((float)soundInstances[i].currentPosition) / soundInstances[i].audioSample->buffer.size();
float playheadX = xOffset + (playheadAlpha * dim.x);
Draw::rect2D(Rect2D::xywh(Point2(playheadX, yOffset), Vector2(1, dim.y)), rd, Color3::yellow());
}
static shared_ptr<GFont> font = GFont::fromFile(System::findDataFile("arial.fnt"));
float time = System::time() - m_initialTime;
if (time < 10.0f) {
float fontAlpha = time < 9.0f ? 1.0f : 10.0f - time;
font->draw2D(rd, "Press Space to Sculpt", Vector2(rd->width()/2, rd->height()-100.0f), 30.0f, Color4(Color3::black(), fontAlpha), Color4(Color3::white()*0.6f, fontAlpha), GFont::XALIGN_CENTER);
}
} rd->pop2D();
if ((submitToDisplayMode() == SubmitToDisplayMode::MAXIMIZE_THROUGHPUT) && (!renderDevice->swapBuffersAutomatically())) {
// We're about to render to the actual back buffer, so swap the buffers now.
// This call also allows the screenshot and video recording to capture the
// previous frame just before it is displayed.
swapBuffers();
}
// Clear the entire screen (needed even though we'll render over it, since
// AFR uses clear() to detect that the buffer is not re-used.)
rd->clear();
// Perform gamma correction, bloom, and SSAA, and write to the native window frame buffer
m_film->exposeAndRender(rd, activeCamera()->filmSettings(), m_framebuffer->texture(0));
}
void RS_Line::draw(RS_Painter* painter, RS_GraphicView* view, double& patternOffset) {
if (! (painter && view)) {
return;
}
auto viewportRect = view->getViewRect();
RS_VectorSolutions endPoints(0);
endPoints.push_back(getStartpoint());
endPoints.push_back(getEndpoint());
RS_EntityContainer ec(nullptr);
ec.addRectangle(viewportRect.minP(), viewportRect.maxP());
// if (viewportRect.inArea(getStartpoint(), RS_TOLERANCE))
// endPoints.push_back(getStartpoint());
// if (viewportRect.inArea(getEndpoint(), RS_TOLERANCE))
// endPoints.push_back(getEndpoint());
// if (endPoints.size() < 2){
// RS_VectorSolutions vpIts;
// for(auto p: ec) {
// auto const sol=RS_Information::getIntersection(this, p, true);
// for (auto const& vp: sol) {
// if (vpIts.getClosestDistance(vp) <= RS_TOLERANCE * 10.)
// continue;
// vpIts.push_back(vp);
// }
// }
// for (auto const& vp: vpIts) {
// if (endPoints.getClosestDistance(vp) <= RS_TOLERANCE * 10.)
// continue;
// endPoints.push_back(vp);
// }
// }
// if (endPoints.size()<2) return;
if ((endPoints[0] - getStartpoint()).squared() >
(endPoints[1] - getStartpoint()).squared() )
{
std::swap(endPoints[0],endPoints[1]);
}
RS_Vector pStart{view->toGui(endPoints.at(0))};
RS_Vector pEnd{view->toGui(endPoints.at(1))};
// std::cout<<"draw line: "<<pStart<<" to "<<pEnd<<std::endl;
RS_Vector direction = pEnd-pStart;
if (isConstruction(true) && direction.squared() > RS_TOLERANCE){
//extend line on a construction layer to fill the whole view
RS_VectorSolutions vpIts;
for(auto p: ec) {
auto const sol=RS_Information::getIntersection(this, p, true);
for (auto const& vp: sol) {
if (vpIts.getClosestDistance(vp) <= RS_TOLERANCE * 10.)
continue;
vpIts.push_back(vp);
}
}
//draw construction lines up to viewport border
switch (vpIts.size()) {
case 2:
// no need to sort intersections
break;
case 3:
case 4: {
// will use the inner two points
size_t i{0};
for (size_t j = 0; j < vpIts.size(); ++j)
if (viewportRect.inArea(vpIts.at(j), RS_TOLERANCE * 10.))
std::swap(vpIts[j], vpIts[i++]);
}
break;
default:
//should not happen
return;
}
pStart=view->toGui(vpIts.get(0));
pEnd=view->toGui(vpIts.get(1));
direction=pEnd-pStart;
}
double length=direction.magnitude();
patternOffset -= length;
if (( !isSelected() && (
getPen().getLineType()==RS2::SolidLine ||
view->getDrawingMode()==RS2::ModePreview)) ) {
//if length is too small, attempt to draw the line, could be a potential bug
painter->drawLine(pStart,pEnd);
return;
}
// double styleFactor = getStyleFactor(view);
// Pattern:
const RS_LineTypePattern* pat;
if (isSelected()) {
// styleFactor=1.;
pat = &RS_LineTypePattern::patternSelected;
} else {
pat = view->getPattern(getPen().getLineType());
}
if (!pat) {
// patternOffset -= length;
RS_DEBUG->print(RS_Debug::D_WARNING,
"RS_Line::draw: Invalid line pattern");
painter->drawLine(pStart,pEnd);
return;
}
// patternOffset = remainder(patternOffset - length-0.5*pat->totalLength,pat->totalLength)+0.5*pat->totalLength;
if(length<=RS_TOLERANCE){
painter->drawLine(pStart,pEnd);
return; //avoid division by zero
}
direction/=length; //cos(angle), sin(angle)
// Pen to draw pattern is always solid:
RS_Pen pen = painter->getPen();
pen.setLineType(RS2::SolidLine);
painter->setPen(pen);
if (pat->num <= 0) {
RS_DEBUG->print(RS_Debug::D_WARNING,"invalid line pattern for line, draw solid line instead");
painter->drawLine(view->toGui(getStartpoint()),
view->toGui(getEndpoint()));
return;
}
// pattern segment length:
double patternSegmentLength = pat->totalLength;
// create pattern:
std::vector<RS_Vector> dp(pat->num);
std::vector<double> ds(pat->num);
double dpmm=static_cast<RS_PainterQt*>(painter)->getDpmm();
for (size_t i=0; i < pat->num; ++i) {
// ds[j]=pat->pattern[i] * styleFactor;
//fixme, styleFactor support needed
ds[i]=dpmm*pat->pattern[i];
if (fabs(ds[i]) < 1. ) ds[i] = copysign(1., ds[i]);
dp[i] = direction*fabs(ds[i]);
}
double total= remainder(patternOffset-0.5*patternSegmentLength,patternSegmentLength) -0.5*patternSegmentLength;
// double total= patternOffset-patternSegmentLength;
RS_Vector curP{pStart+direction*total};
for (int j=0; total<length; j=(j+1)%pat->num) {
// line segment (otherwise space segment)
double const t2=total+fabs(ds[j]);
RS_Vector const& p3=curP+dp[j];
if (ds[j]>0.0 && t2 > 0.0) {
// drop the whole pattern segment line, for ds[i]<0:
// trim end points of pattern segment line to line
RS_Vector const& p1 =(total > -0.5)?curP:pStart;
RS_Vector const& p2 =(t2 < length+0.5)?p3:pEnd;
painter->drawLine(p1,p2);
}
total=t2;
curP=p3;
}
}
int main(int argc, char *argv[]) {
if (argc < 3){
printf("Usage: %s <image-file-name1> <image-file-name2>\n", argv[0]);
exit(1);
}
IplImage* img1 = cvLoadImage(argv[1], CV_LOAD_IMAGE_GRAYSCALE);
if (!img1) {
printf("Could not load image file: %s\n", argv[1]);
exit(1);
}
IplImage* img1f = cvCreateImage(cvGetSize(img1), IPL_DEPTH_32F, 1);
cvConvertScale(img1, img1f, 1.0 / 255.0);
IplImage* img2 = cvLoadImage(argv[2], CV_LOAD_IMAGE_GRAYSCALE);
if (!img2) {
printf("Could not load image file: %s\n", argv[2]);
exit(1);
}
IplImage* img2f = cvCreateImage(cvGetSize(img1), IPL_DEPTH_32F, 1);
cvConvertScale(img2, img2f, 1.0 / 255.0);
/**
* Aufgabe: Homographien (5 Punkte)
*
* Unter der Annahme, dass Bilder mit einer verzerrungsfreien Lochbildkamera
* aufgenommen werden, kann man Aufnahmen mit verschiedenen Bildebenen und
* gleichem Projektionszentren durch projektive Abbildungen, sogenannte
* Homographien, beschreiben.
*
* - Schreibe Translation als Homographie auf (auf Papier!).
* - Verschiebe die Bildebene eines Testbildes um 20 Pixel nach rechts, ohne
* das Projektionszentrum zu ändern. Benutze dafür \code{cvWarpPerspective}.
* - Wieviele Punktkorrespondenzen benötigt man mindestens, um eine projektive
* Abbildung zwischen zwei Bildern bis auf eine Skalierung eindeutig zu
* bestimmen? Warum? (Schriftlich beantworten!)
*/
/* TODO */
IplImage* img_moved = cvCreateImage(cvGetSize(img1), IPL_DEPTH_32F, 1);
cv::Mat matImg1f_task1 = cv::Mat(img1f);
cv::Mat matImgMoved = cv::Mat(img_moved);
float data[] = { 1, 0, -20, 0, 1, 0, 0, 0, 1 };
cv::Mat trans(3, 3, CV_32FC1, data);;
cv::warpPerspective(matImg1f_task1, matImgMoved, trans, matImgMoved.size());
cv::namedWindow("mainWin", CV_WINDOW_AUTOSIZE);
cv::Mat img_moved_final(img_moved);
cv::imshow("mainWin", img_moved_final);
cvWaitKey(0);
/**
* Aufgabe: Panorama (15 Punkte)
*
* Ziel dieser Aufgabe ist es, aus zwei gegebenen Bildern ein Panorama zu konstruieren.
* \begin{center}
* \includegraphics[width = 0.3\linewidth]{left.png}
* \includegraphics[width = 0.3\linewidth]{right.png}
* \end{center}
*
* Dafür muss zunächst aus den gegeben Punktkorrespondenzen
* \begin{center}
* \begin{tabular}{|c|c|}
* \hline
* linkes Bild & rechtes Bild \\
* $(x, y)$ & $(x, y)$ \\ \hline \hline
* (463, 164) & (225, 179)\\ \hline
* (530, 357) & (294, 370)\\ \hline
* (618, 357) &(379, 367)\\ \hline
* (610, 153) & (369, 168)\\ \hline
* \end{tabular}
* \end{center}
* eine perspektivische Transformation bestimmt werden, mit der die Bilder auf eine gemeinsame Bildebene transformiert werden können.
*
* - Berechne die Transformation aus den gegebenen Punktkorrespondenzen.
* Benutze die Funktion \code{cvGetPerspectiveTransform}. Was ist die
* zentrale Idee des DLT-Algorithmus, wie er in der Vorlesung vorgestellt
* wurde?
*/
/* TODO */
CvMat *P = cvCreateMat(3, 3, CV_32FC1);
CvPoint points1[] = { cvPoint(463, 164), cvPoint(530, 357), cvPoint(618, 357), cvPoint(610, 153) };
CvPoint points2[] = { cvPoint(225, 179), cvPoint(294, 370), cvPoint(379, 367), cvPoint(369, 168) };
CvPoint2D32f pt1[4], pt2[4];
for (int i = 0; i < 4; ++i) {
pt2[i].x = points2[i].x;
pt2[i].y = points2[i].y;
pt1[i].x = points1[i].x;
pt1[i].y = points1[i].y;
}
cvGetPerspectiveTransform(pt1, pt2, P);
/**
* - Bestimme die notwendige Bildgröße für das Panoramabild.
*/
/* TODO */
int h = img1f->height - 1;
int w = img1f->width - 1;
float p1[] = { 0.0, 0.0, 1.0 };
float p2[] = { 0.0, (float)(h), 1.0 };
float p3[] = { (float)(w), (float)(h), 1.0 };
float p4[] = { (float)(w), 0.0, 1.0 };
cv::Mat P1 = P * cv::Mat(3, 1, CV_32FC1, p1);
cv::Mat P2 = P * cv::Mat(3, 1, CV_32FC1, p2);
cv::Mat P3 = P * cv::Mat(3, 1, CV_32FC1, p3);
cv::Mat P4 = P * cv::Mat(3, 1, CV_32FC1, p4);
// mustn't be zero
assert(P1.at<float>(2,0) != 0 && P2.at<float>(2,0) != 0 && P3.at<float>(2,0) != 0 && P4.at<float>(2,0) != 0);
P1 = P1 / P1.at<float>(2,0);
P2 = P2 / P2.at<float>(2,0);
P3 = P3 / P3.at<float>(2,0);
P4 = P4 / P4.at<float>(2,0);
/**
* - Projiziere das linke Bild in die Bildebene des rechten Bildes. Beachte
* dabei, dass auch der linke Bildrand in das Panoramabild projiziert
* wird.
*/
/* TODO */
///////// Hier wird irgendwo ein fehler sein bei der Groesse...
std::vector<cv::Mat*> matrices;
matrices.push_back(&P1);
matrices.push_back(&P2);
matrices.push_back(&P3);
matrices.push_back(&P4);
cv::Point minP(P1.at<float>(0,0), P1.at<float>(1,0)), maxP(P1.at<float>(0,0), P1.at<float>(1,0));
for(int i = 0; i < matrices.size(); ++i) {
minP.x = (int)(min(matrices[i]->at<float>(0,0), (float)minP.x));
minP.y = (int)(min(matrices[i]->at<float>(1,0), (float)minP.y));
maxP.x = (int)(max(matrices[i]->at<float>(0,0), (float)maxP.x)+1.0);
maxP.y = (int)(max(matrices[i]->at<float>(1,0), (float)maxP.y)+1.0);
}
minP.x = min(minP.x, 0); minP.y = min(minP.y, 0);
maxP.x = max(maxP.x, img1f->width-1); maxP.y = max(maxP.y, img1f->height-1);
// create image
cv::Mat Panorama = cv::Mat(cv::Size(maxP-minP), CV_32FC1, cv::Scalar(0.0));
cv::Mat PLeft = cv::Mat(cv::Size(maxP-minP), CV_32FC1, cv::Scalar(0.0));
cv::Mat PRight = cv::Mat(cv::Size(maxP-minP), CV_32FC1, cv::Scalar(0.0));
cv::Mat matImg1f = cv::Mat( img1f);
cv::Mat matImg2f = cv::Mat( img2f);
for(int y=0; y < matImg1f.rows; ++y ) {
for(int x=0; x < matImg1f.cols; ++x ) {
PLeft.at<float>(y,x) = matImg1f.at<float>(y,x);
}
}
for(int y=0; y < matImg2f.rows; ++y ) {
for(int x=0; x < matImg2f.cols; ++x ) {
PRight.at<float>(y,x) = matImg2f.at<float>(y,x);
}
}
cv::imshow("mainWin", PLeft);
cv::waitKey(0);
cv::imshow("mainWin", PRight);
cv::waitKey(0);
float trans2[] = { 1.0, 0.0, -minP.x, 0.0, 1.0, -minP.y, 0.0, 0.0, 1.0};
cv::Mat translation(3,3,CV_32FC1,trans2);
//translate P
cv::Mat Pnew = translation*cv::Mat(P);
cv::warpPerspective(PLeft, Panorama, Pnew, Panorama.size());
cv::warpPerspective(PRight, PLeft, translation, PLeft.size());
PRight = PLeft.clone();
cv::imshow("mainWin", PLeft);
cv::waitKey(0);
cv::imshow("mainWin", Panorama);
cv::waitKey(0);
/**
* - Bilde das Panoramabild, so dass Pixel, für die zwei Werte vorhanden sind,
* den Mittelwert zugeordnet bekommen.
*/
cv::Mat mask = (Panorama > 0.0) & (PLeft > 0.0);
cv::imshow("mainWin", mask);
cv::waitKey(0);
mask.convertTo(mask,CV_32FC1, 0.5/255.);
cv::Mat weighted = cv::Mat(Panorama.size(), CV_32FC1, cv::Scalar(1.0)) - mask;
Panorama = Panorama + PLeft;
cv::multiply(Panorama, weighted, Panorama);
cv::imshow("mainWin", Panorama);
cv::waitKey(0);
/* TODO */
/**
* - Zeige das Panoramabild an.
*/
/* TODO */
}
