void btWorldFactory::createBoxesFloor(QVariantList &shapesList, double areaX, double areaZ, btVector3 pos, btVector3 boxMin, btVector3 boxMax) {
// Boxes Floor
double sizeX = Tools::random((double)boxMin.x(), (double)boxMax.x());
double sizeZ = Tools::random((double)boxMin.z(), (double)boxMax.z());
btVector3 recal(sizeX,0,sizeZ);
pos = pos + recal;
int nbBoxesX = areaX / sizeX;
int nbBoxesZ = areaZ / sizeZ;
for(int i=0;i<nbBoxesX;++i){
for(int j=0;j<nbBoxesZ;++j){
double sizeY = Tools::random((double)boxMin.y(), (double)boxMax.y());
createBox(shapesList,
btVector3(sizeX,sizeY,sizeZ),
btVector3(i*sizeX - areaX*0.5 + pos.x(),sizeY/2.0 + pos.y(),j*sizeZ - areaZ*0.5 + pos.z()),
btVector3(0,0,0),0);
}
}
}
//*************************************************************************
void mexFunction(int nlhs, mxArray *plhs[], int nrhs,
const mxArray *prhs[]) {
int mrows, ncols;
double *image;
double **newimage;
double *outputimage;
double *transform;
double *finalbounds;
int *bounds;
int ntransform;
int i,j,s;
//srand (time(NULL));
/* Check for proper number of arguments. */
if (nrhs != 1 && nrhs != 2) {
mexErrMsgTxt("1 or 2 input required.");
} else if (nlhs > 3) {
mexErrMsgTxt("Too many output arguments");
}
mrows = (int) mxGetM(prhs[0]);
ncols = (int) mxGetN(prhs[0]);
if (nrhs == 1)
ntransform=1;
else
ntransform = (int) mxGetScalar(prhs[1]);
if ( mxIsComplex(prhs[0]) || !mxIsDouble(prhs[0])) {
mexErrMsgTxt("Input 1 must be a noncomplex double matrix.");
}
image = mxGetPr(prhs[0]);
if(nlhs >= 2) {
plhs[1] = mxCreateDoubleMatrix(ntransform, ncols, mxREAL);
transform=mxGetPr(plhs[1]);
}
else
transform=mxGetPr(mxCreateDoubleMatrix(ntransform, ncols, mxREAL));
if(nlhs >= 3) {
plhs[2] = mxCreateDoubleMatrix(1, 2, mxREAL);
finalbounds=mxGetPr(plhs[2]);
}
else
finalbounds=mxGetPr(mxCreateDoubleMatrix(1, 2, mxREAL));
newimage=(double **) malloc(ncols*sizeof(double*));
bounds=(int *) malloc(ncols*2*sizeof(int));
for(i=0;i<ncols;i++) {
newimage[i]=(double *) malloc(mrows*sizeof(double*));
for(j=0;j<mrows;j++) {
newimage[i][j]=image[i*mrows+j];
}
bounds[2*i]=0;
bounds[2*i+1]=mrows;
}
/*int b[2];
b[0]=-8;
b[1]=492-8;
bounds[10]=-16;
bounds[11]=492-16;
double cc=cost(newimage,newimage[50], bounds, b, ncols, 50);
mexPrintf("C : %lf \n", cc);*/
//findbestcorr(newimage, ncols, bounds, 80, newimage[80],mrows,transform+80, ntransform);
//mexPrintf("C : %lf \n", transform[80*ntransform]);
recal(image, newimage, mrows, ncols, bounds, transform, ntransform);
finalbounds[1]=mrows;
for(i=0;i<ncols;i++) {
if(bounds[2*i]>finalbounds[0])
finalbounds[0]=bounds[2*i];
if(bounds[2*i+1]<finalbounds[1])
finalbounds[1]=bounds[2*i+1];
}
s=(int) (finalbounds[1]-finalbounds[0]);
plhs[0] = mxCreateDoubleMatrix(s, ncols, mxREAL);
outputimage=mxGetPr(plhs[0]);
for(i=0;i<ncols;i++) {
for(j=(int) finalbounds[0];j<finalbounds[1];j++) {
outputimage[(int) (i*s+j-finalbounds[0])]=newimage[i][j-bounds[2*i]];
}
free(newimage[i]);
}
finalbounds[1]++;
finalbounds[0]++;
free(newimage);
free(bounds);
}
