void TriangleSetTopologyContainer::clear()
{
clearTrianglesAroundVertex();
clearTrianglesAroundEdge();
clearEdgesInTriangle();
clearTriangles();
clearBorderElementLists();
EdgeSetTopologyContainer::clear();
}
void PolyMesh::triangulate ()
{
clearTriangles();
//int polycount = 0;
for (PolyMesh::FaceIter f(this); !f.end(); ++f)
{
//polycount++;
//if (polycount == 10163)
//int oooo = 1;
PolyMesh::FaceVertIter fv;
UintSize numavg[3] = {0,0,0};
UintSize avgi = 0;
Vector3 avg[3];
//Split vertices into three groups
for (fv.begin(*f); !fv.end(); ++fv, ++avgi)
numavg[ avgi % 3 ] += 1;
//Exit early if triangle
if (avgi == 3)
{
addTriangle( *f,
f->firstHedge()->prevHedge(),
f->firstHedge(),
f->firstHedge()->nextHedge());
continue;
}
//Average vertices in each group
fv.begin(*f);
for (int g=0; g<3; ++g)
for (avgi=0; avgi<numavg[g]; ++avgi, ++fv)
avg[g] += fv->point;
avg[0] /= (Float) numavg[0];
avg[1] /= (Float) numavg[1];
avg[2] /= (Float) numavg[2];
//Define triangulation space
Vector3 s1 = (avg[1] - avg[0]).normalize();
Vector3 s2 = (avg[2] - avg[0]).normalize();
Vector3 trigN = Vector::Cross( s2, s1 ).normalize();
Vector3 trigY = Vector::Cross( trigN, s1 );
Vector3 trigX = s1;
//Construct world-to-trig matrix
Matrix4x4 trigM;
trigM.setColumn( 0, trigX );
trigM.setColumn( 1, trigY );
trigM.setColumn( 2, trigN );
trigM.setColumn( 3, fv->point );
trigM = trigM.affineInverse();
//Transform polygon into trig space and find bottom-left point
LinkedList< TrigNode > trigNodes;
bool minFirst = true;
TrigIter minI;
for (fv.begin(*f); !fv.end(); ++fv) {
TrigNode node;
node.vertex = *fv;
node.hedge = fv.hedgeToVertex();
node.point = ( trigM * fv->point ).xy();
TrigIter newI = trigNodes.pushBack( node );
if (minFirst)
minI = newI;
else if (node.point.x < minI->point.x)
minI = newI;
else if (node.point.x == minI->point.x && node.point.y < minI->point.y)
minI = newI;
minFirst = false;
}
//Find orientation for all corners
Vector2 prevV, nextV;
TrigCyclIter prev, cur, next;
bool convex = false, convexInit = false;
prev.begin( trigNodes, minI ); --prev;
cur.begin( trigNodes, minI );
next.begin( trigNodes, minI ); ++next;
for ( ; !cur.end(); ++cur, ++prev, ++next)
{
findNodeOrientation( *prev, *cur, *next, convex, convexInit );
if (!convexInit) { convex = cur->orientation; convexInit = true; }
}
//Rest corner iterators
prev.begin( trigNodes ); --prev;
cur.begin( trigNodes );
next.begin( trigNodes ); ++next;
//Cut ears until triangle or no ears found
while (trigNodes.size() > 3 && !cur.end())
{
//Find next convex node
if (cur->orientation == convex)
{
//Check if a concave node is inside
bool isEar = true;
for (TrigCyclIter it( cur ); !it.end(); ++it) {
if (it == prev || it == cur || it == next) continue;
if (it->orientation == convex) continue;
if (Vector::InsideTriangle( it->point, prev->point, cur->point, next->point))
{ isEar = false; break; }
}
//Cut an ear
if (isEar)
{
addTriangle( *f, prev->hedge, cur->hedge, next->hedge );
trigNodes.removeAt( cur );
findNodeOrientation( prev, convex, convexInit );
findNodeOrientation( next, convex, convexInit );
cur.begin( next ); ++next;
continue;
}
}
//Next corner
++prev; ++cur; ++next;
}
//Cut the remaining corners
while (next != prev)
{
addTriangle( *f, prev->hedge, cur->hedge, next->hedge );
++cur; ++next;
}
}//Walk faces
}
void RayDisplayScene::lightenSender(int senderId, const int &angle)
{
clearRayNumbers();
QVector<QLineF> &senderCollidedRays = clearCollidedRays(senderId);
clearTriangles();
QVector<Ray> senderRays;
senderRays.reserve(10);
for (int i = 1; i < mSidedReceivers.size(); i++) {
const int sideIdx = (mSenders.at(senderId).side + i) % mSidedReceivers.size();
for (int j = 0; j < mSidedReceivers.at(sideIdx).size(); j++) {
QLineF line(mSenders.at(senderId).r->pos(), mSidedReceivers.at(sideIdx).at(j)->pos());
int lineAngle = int(line.angle()) - mSenders.at(senderId).rotation;
if ((lineAngle > -angle / 2 && lineAngle < angle / 2) || (lineAngle - 360 > -angle / 2 && lineAngle - 360 < angle / 2)) {
QGraphicsTextItem *rayNumber;
rayNumber = addText(QString::number(senderRays.size()));
rayNumber->setPos(line.p2());
rayNumber->setZValue(3);
mRayNumbers << rayNumber;
senderRays << Ray{line, true, (j == 0) || (j == mSidedReceivers.at(sideIdx).size() - 1) /* corner ray */};
}
}
}
for (int i = 0; i < senderRays.size(); i++) {
QGraphicsLineItem *r = nullptr;
if (!mCollisionEnabled || mCircles.size() <= 1) {
r = addLine(senderRays.at(i).line, QPen(QBrush(Qt::blue), 1));
} else {
/*const int size = mObstacle.size();
for (int j = 0; j < size; j++) {
QLineF obsLine(mObstacle.at(j), mObstacle.at((j + 1) % size));
if (senderRays.at(i).line.intersect(obsLine, nullptr) == QLineF::BoundedIntersection) {
senderRays[i].visible = false;
break;
}
}*/
const int size = mCircles.size();
for (int j = 0; j < size; j++) {
if (pointToLineDistSquared(mCircles.at(j).center, senderRays.at(i).line) <= mCircles.at(j).radius * mCircles.at(j).radius) {
senderRays[i].visible = false;
break;
}
}
if (senderRays.at(i).visible) {
r = addLine(senderRays.at(i).line, QPen(QBrush(Qt::blue), 1));
}
}
if (r != nullptr) {
mRays.append(r);
}
}
// add border rays of another colour
if (senderRays.size() > 0) {
QGraphicsLineItem *r = nullptr;
// first
{
r = addLine(senderRays.at(0).line, QPen(QBrush(Qt::yellow), 1));
mRays.append(r);
}
// last
if (senderRays.size() > 1/* && !senderRays.at(senderRays.size() - 1).visible*/) {
//senderCollidedRays << senderRays.at(senderRays.size() - 1).line;
r = addLine(senderRays.at(senderRays.size() - 1).line, QPen(QBrush(Qt::yellow), 1));
mRays.append(r);
}
// on every state change
for (int i = 1; i < senderRays.size() - 1; i++) {
if (!senderRays.at(i).visible && (senderRays.at(i - 1).visible || senderRays.at(i + 1).visible)) {
senderCollidedRays << senderRays.at(i).line;
r = addLine(senderRays.at(i).line, QPen(QBrush(Qt::red), 1));
mCollidedRaysGraphics[senderId] << r;
}
}
}
// ******************************
// -----8<------8<-------8<------
//cv::Mat cvImage = cvtrack1(senderId, senderRays);
//cv::imshow(QString(QString("plepleple ")/* + QString::number(senderId)*/).toStdString(), cvImage);
/*for (int i = 0; i < mCvPolygons.size(); i++) {
for (int j = 0; j < mCvPolygons.at(i).size(); j++) {
cv::fillConvexPoly(cvImage, cvPoints.constData(), cvPoints.size(), cv::Scalar(127));
}
}*/
//cvTrack2(cvImage);
updateCollisions();
}
