void Humanoid::InstantiateAtom()
{
//a single cuboid girder to cover this cell
Ogre::SceneManager& sceneManager = GetSceneManager();
m_pAtomEntity = sceneManager.createEntity("human_" + num2string(m_AtomID), "ninja.mesh");
m_pAtomEntitySceneNode->attachObject(m_pAtomEntity);
m_pAtomEntitySceneNode->scale(0.004f, 0.004f, 0.004f);
m_pAtomEntitySceneNode->setPosition(0, -0.4f, 0);
//create physics collider
btVector3 halfExtents = btVector3(0.15f, 0.4f, 0.1f);
m_pCollisionShape = new btBoxShape(halfExtents);
btDefaultMotionState* startMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1), OGRE2BT(m_pAtomEntitySceneNode->_getDerivedPosition())));
btScalar mass = 100.f;
btVector3 fallInertia(0,0,0);
m_pCollisionShape->calculateLocalInertia(mass,fallInertia);
btRigidBody::btRigidBodyConstructionInfo rigidBodyCI(mass, startMotionState, m_pCollisionShape, fallInertia);
m_pRigidBody = new btRigidBody(rigidBodyCI);
m_pRigidBody->setUserPointer(this);
m_pRigidBody->setAngularFactor(0);
InitCollisionShapeDebugDraw(Ogre::ColourValue::Green);
//todo: is this working?
//m_pRigidBody->setCollisionFlags(m_pRigidBody->CF_NO_CONTACT_RESPONSE);
//add new rigid body to world
btDiscreteDynamicsWorld& dynamicsWorld = GetDynamicsWorld();
dynamicsWorld.addRigidBody(m_pRigidBody, COLLISION_MOB, COLLISION_STRUCTURE|COLLISION_OBJ|COLLISION_MOB);
Mob::InstantiateAtom();
}
Mat take_pic ( const camera& cam, const float& global_t )
{
int frame_idx = global_t;
float center_x = int (cam.center_x) + 0.5;
float center_y = int (cam.center_y) + 0.5;
int L = (center_x + 0.5) - cam.width * cam.zoom / 2;
int U = (center_y + 0.5) - cam.height * cam.zoom / 2;
Mat frame = imread ( destination + num2string ( frame_idx ) + ".jpg", CV_LOAD_IMAGE_COLOR);
Mat sub_img_temp1 = frame( Rect (L, U, cam.width * cam.zoom, cam.height * cam.zoom)).clone();
IplImage* sub_img_temp2 = new IplImage(sub_img_temp1);
Image* sub_img = new Image(sub_img_temp2);
float v = log(cam.zoom) / 1.33886;
GaussianFilter gss(9, 9, v);
ImageWarpper wp;
Image *down = wp.downSamplePSF( sub_img, 1/cam.zoom, &gss, 0, 0);
//down->SaveImage ("zoom_2_diff4.jpg");
Mat down_mat( down->getIplImg(), 1);
return down_mat;
}
END_TEST
START_TEST(tc_num2string)
{
char buf[20];
fail_if(num2string(-1,NULL,1) != -1);
fail_if(num2string(1,NULL,1) != -1);
fail_if(num2string(1,buf,1) != -1);
fail_if(num2string(1,buf,3) != 2);
fail_if(num2string(11,buf,3) != 3);
fail_if(num2string(112,buf,4) != 4);
}
static GOOD_OR_BAD LINK_PowerByte(const BYTE data, BYTE * resp, const UINT delay, const struct parsedname *pn)
{
struct connection_in * in = pn->selected_connection ;
ASCII buf[3] = "pxx";
BYTE respond[2+in->CRLF_size] ;
num2string(&buf[1], data);
RETURN_BAD_IF_BAD(LINK_write(LINK_string(buf), 3, in) ) ;
// delay
UT_delay(delay);
// flush the buffers
RETURN_BAD_IF_BAD(LINK_write(LINK_string("\r"), 1, in) ) ;
RETURN_BAD_IF_BAD( LINK_readback_data( LINK_string(respond), 2, in) ) ;
resp[0] = string2num((const ASCII *) respond);
return gbGOOD ;
}
void simulation_init ()
{
VideoCapture inputVideo( destination + source );
if (! inputVideo.isOpened() ) {
cout << "Can't open Video : " << source << endl;
return ;
}
Mat frame;
int num_frame = 0;
string temp_save_dir;
for (num_frame=0; num_frame>-1; num_frame++) {
inputVideo >> frame;
if ( frame.empty() ) break;
temp_save_dir = destination + num2string(num_frame) + ".jpg";
imwrite ( temp_save_dir, frame);
}
}
void UnderlayPlating::InstantiateStructure(bool a_IsBuildPoint)
{
//an overlay plate is essentially an "outer cover" for the tile in one of the six cardinal directions
//system is currently setup to handle any combination of the six, but it probably shouldn't be
m_IsBuildPoint = a_IsBuildPoint;
Ogre::SceneManager& sceneManager = GetSceneManager();
//std::cout << "instantiating UnderlayPlating with direction " << m_Direction << std::endl;
m_AtomFlags = RCD_CAN_DESTROY;
//create entity
m_pAtomEntity = sceneManager.createEntity("UnderlayPlating_" + num2string(m_AtomID), "cell_underlay.mesh");
m_pAtomEntitySceneNode->attachObject(m_pAtomEntity);
StopFlashingColour();
//set up the directional offsets
Ogre::Vector3 offsetPos(0, 0, 0);
Ogre::Vector3 lookatPos(0, 0, 0);
btVector3 halfExtents(0.5f, 0.5f, 0.5f);
//std::cout << " new overlay plating" << std::endl;
if(m_Direction & NORTH)
{
offsetPos.z += 0.395f;
lookatPos.z += 1;
halfExtents.setZ(0.005f);
//std::cout << "NORTH " << (isPhysical ? "plating" : "trigger") << std::endl;
}
if(m_Direction & SOUTH)
{
offsetPos.z -= 0.395f;
lookatPos.z -= 1;
halfExtents.setZ(0.005f);
//std::cout << "SOUTH " << (isPhysical ? "plating" : "trigger") << std::endl;
}
if(m_Direction & EAST)
{
offsetPos.x += 0.395f;
lookatPos.x += 1;
halfExtents.setX(0.005f);
//std::cout << "EAST " << (isPhysical ? "plating" : "trigger") << std::endl;
}
if(m_Direction & WEST)
{
offsetPos.x -= 0.395f;
lookatPos.x -= 1;
halfExtents.setX(0.005f);
//std::cout << "WEST " << (isPhysical ? "plating" : "trigger") << std::endl;
}
if(m_Direction & UP)
{
offsetPos.y += 0.395f;
lookatPos.y += 1;
halfExtents.setY(0.005f);
//std::cout << "UP " << (isPhysical ? "plating" : "trigger") << std::endl;
}
if(m_Direction & DOWN)
{
offsetPos.y -= 0.395f;
lookatPos.y -= 1;
halfExtents.setY(0.005f);
//std::cout << "DOWN " << (isPhysical ? "plating" : "trigger") << std::endl;
}
m_pAtomEntitySceneNode->setPosition(offsetPos);
m_pAtomEntitySceneNode->lookAt(lookatPos, Ogre::Node::TS_LOCAL);
m_pAtomEntitySceneNode->yaw(Ogre::Degree(90));
//create physics body and initialise to starting position
m_pCollisionShape = new btBoxShape(halfExtents);
btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0,0,0,1), OGRE2BT(m_pAtomEntitySceneNode->_getDerivedPosition())));
btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0, groundMotionState, m_pCollisionShape, btVector3(0,0,0));
m_pRigidBody = new btRigidBody(groundRigidBodyCI);
m_pRigidBody->setUserPointer(this);
//add new rigid body to world
btDiscreteDynamicsWorld& dynamicsWorld = GetDynamicsWorld();
if(m_IsBuildPoint)
{
SetEntityVisible(false);
m_pAtomEntity->setMaterialName("cell_highlight_material");
dynamicsWorld.addRigidBody(m_pRigidBody, COLLISION_BUILDPOINT, RAYCAST_BUILD);
//todo: is this working?
//m_pRigidBody->setCollisionFlags(m_pRigidBody->CF_NO_CONTACT_RESPONSE);
}
else
{
dynamicsWorld.addRigidBody(m_pRigidBody, COLLISION_STRUCTURE, RAYCAST_BUILD|COLLISION_OBJ|COLLISION_MOB);
}
InitCollisionShapeDebugDraw(Ogre::ColourValue::Red);
}
