void DefaultPointHandleRenderer::render(Vbo& vbo, RenderContext& context) {
const Vec4f::List& positionList = positions();
if (positionList.empty())
return;
SetVboState activateVbo(vbo, Vbo::VboActive);
if (m_vertexArray == NULL) {
Vec3f::List vertices = sphere();
unsigned int vertexCount = static_cast<unsigned int>(vertices.size());
m_vertexArray = new VertexArray(vbo, GL_TRIANGLES, vertexCount,
Attribute::position3f());
SetVboState mapVbo(vbo, Vbo::VboMapped);
Vec3f::List::const_iterator vIt, vEnd;
for (vIt = vertices.begin(), vEnd = vertices.end(); vIt != vEnd; ++vIt) {
const Vec3f& vertex = *vIt;
m_vertexArray->addAttribute(vertex);
}
}
Renderer::ActivateShader shader(context.shaderManager(), Renderer::Shaders::PointHandleShader);
shader.currentShader().setUniformVariable("Color", color());
shader.currentShader().setUniformVariable("CameraPosition", context.camera().position());
shader.currentShader().setUniformVariable("ScalingFactor", scalingFactor());
shader.currentShader().setUniformVariable("MaximumDistance", maximumDistance());
Vec4f::List::const_iterator pIt, pEnd;
for (pIt = positionList.begin(), pEnd = positionList.end(); pIt != pEnd; ++pIt) {
const Vec4f& position = *pIt;
shader.currentShader().setUniformVariable("Position", position);
m_vertexArray->render();
}
}
void InstancedPointHandleRenderer::render(Vbo& vbo, RenderContext& context) {
SetVboState activateVbo(vbo, Vbo::VboActive);
if (!valid()) {
delete m_vertexArray;
m_vertexArray = NULL;
const Vec4f::List& positionList = positions();
if (!positionList.empty()) {
Vec3f::List vertices = sphere();
unsigned int vertexCount = static_cast<unsigned int>(vertices.size());
unsigned int instanceCount = static_cast<unsigned int>(positionList.size());
m_vertexArray = new InstancedVertexArray(vbo, GL_TRIANGLES, vertexCount, instanceCount,
Attribute::position3f());
SetVboState mapVbo(vbo, Vbo::VboMapped);
Vec3f::List::iterator it, end;
for (it = vertices.begin(), end = vertices.end(); it != end; ++it)
m_vertexArray->addAttribute(*it);
m_vertexArray->addAttributeArray("position", positionList);
}
validate();
}
if (m_vertexArray != NULL) {
Renderer::ActivateShader shader(context.shaderManager(), Renderer::Shaders::InstancedPointHandleShader);
shader.currentShader().setUniformVariable("Color", color());
shader.currentShader().setUniformVariable("CameraPosition", context.camera().position());
shader.currentShader().setUniformVariable("ScalingFactor", scalingFactor());
shader.currentShader().setUniformVariable("MaximumDistance", maximumDistance());
m_vertexArray->render(shader.currentShader());
}
}
kIOS BVFitter<kIOS>::fit(unsigned int* primitive_indices, int num_primitives)
{
kIOS bv;
Matrix3f M; // row first matrix
Vec3f E[3]; // row first eigen-vectors
Matrix3f::U s[3];
getCovariance(vertices, prev_vertices, tri_indices, primitive_indices, num_primitives, M);
eigen(M, s, E);
Vec3f* axis = bv.obb.axis;
axisFromEigen(E, s, axis);
// get centers and extensions
getExtentAndCenter(vertices, prev_vertices, tri_indices, primitive_indices, num_primitives, axis, bv.obb.To, bv.obb.extent);
const Vec3f& center = bv.obb.To;
const Vec3f& extent = bv.obb.extent;
FCL_REAL r0 = maximumDistance(vertices, prev_vertices, tri_indices, primitive_indices, num_primitives, center);
// decide k in kIOS
if(extent[0] > kIOS_RATIO * extent[2])
{
if(extent[0] > kIOS_RATIO * extent[1]) bv.num_spheres = 5;
else bv.num_spheres = 3;
}
else bv.num_spheres = 1;
bv.spheres[0].o = center;
bv.spheres[0].r = r0;
if(bv.num_spheres >= 3)
{
FCL_REAL r10 = sqrt(r0 * r0 - extent[2] * extent[2]) * invSinA;
Vec3f delta = axis[2] * (r10 * cosA - extent[2]);
bv.spheres[1].o = center - delta;
bv.spheres[2].o = center + delta;
FCL_REAL r11 = maximumDistance(vertices, prev_vertices, tri_indices, primitive_indices, num_primitives, bv.spheres[1].o);
FCL_REAL r12 = maximumDistance(vertices, prev_vertices, tri_indices, primitive_indices, num_primitives, bv.spheres[2].o);
bv.spheres[1].o += axis[2] * (-r10 + r11);
bv.spheres[2].o += axis[2] * (r10 - r12);
bv.spheres[1].r = r10;
bv.spheres[2].r = r10;
}
if(bv.num_spheres >= 5)
{
FCL_REAL r10 = bv.spheres[1].r;
Vec3f delta = axis[1] * (sqrt(r10 * r10 - extent[0] * extent[0] - extent[2] * extent[2]) - extent[1]);
bv.spheres[3].o = bv.spheres[0].o - delta;
bv.spheres[4].o = bv.spheres[0].o + delta;
FCL_REAL r21 = 0, r22 = 0;
r21 = maximumDistance(vertices, prev_vertices, tri_indices, primitive_indices, num_primitives, bv.spheres[3].o);
r22 = maximumDistance(vertices, prev_vertices, tri_indices, primitive_indices, num_primitives, bv.spheres[4].o);
bv.spheres[3].o += axis[1] * (-r10 + r21);
bv.spheres[4].o += axis[1] * (r10 - r22);
bv.spheres[3].r = r10;
bv.spheres[4].r = r10;
}
return bv;
}
void fitn(Vec3f* ps, int n, kIOS& bv)
{
Matrix3f M;
Vec3f E[3];
Matrix3f::U s[3] = {0, 0, 0}; // three eigen values;
getCovariance(ps, NULL, NULL, NULL, n, M);
eigen(M, s, E);
Vec3f* axis = bv.obb.axis;
axisFromEigen(E, s, axis);
getExtentAndCenter(ps, NULL, NULL, NULL, n, axis, bv.obb.To, bv.obb.extent);
// get center and extension
const Vec3f& center = bv.obb.To;
const Vec3f& extent = bv.obb.extent;
FCL_REAL r0 = maximumDistance(ps, NULL, NULL, NULL, n, center);
// decide the k in kIOS
if(extent[0] > kIOS_RATIO * extent[2])
{
if(extent[0] > kIOS_RATIO * extent[1]) bv.num_spheres = 5;
else bv.num_spheres = 3;
}
else bv.num_spheres = 1;
bv.spheres[0].o = center;
bv.spheres[0].r = r0;
if(bv.num_spheres >= 3)
{
FCL_REAL r10 = sqrt(r0 * r0 - extent[2] * extent[2]) * invSinA;
Vec3f delta = axis[2] * (r10 * cosA - extent[2]);
bv.spheres[1].o = center - delta;
bv.spheres[2].o = center + delta;
FCL_REAL r11 = 0, r12 = 0;
r11 = maximumDistance(ps, NULL, NULL, NULL, n, bv.spheres[1].o);
r12 = maximumDistance(ps, NULL, NULL, NULL, n, bv.spheres[2].o);
bv.spheres[1].o += axis[2] * (-r10 + r11);
bv.spheres[2].o += axis[2] * (r10 - r12);
bv.spheres[1].r = r10;
bv.spheres[2].r = r10;
}
if(bv.num_spheres >= 5)
{
FCL_REAL r10 = bv.spheres[1].r;
Vec3f delta = axis[1] * (sqrt(r10 * r10 - extent[0] * extent[0] - extent[2] * extent[2]) - extent[1]);
bv.spheres[3].o = bv.spheres[0].o - delta;
bv.spheres[4].o = bv.spheres[0].o + delta;
FCL_REAL r21 = 0, r22 = 0;
r21 = maximumDistance(ps, NULL, NULL, NULL, n, bv.spheres[3].o);
r22 = maximumDistance(ps, NULL, NULL, NULL, n, bv.spheres[4].o);
bv.spheres[3].o += axis[1] * (-r10 + r21);
bv.spheres[4].o += axis[1] * (r10 - r22);
bv.spheres[3].r = r10;
bv.spheres[4].r = r10;
}
}
