PointViewSet PMFFilter::run(PointViewPtr input)
{
bool logOutput = log()->getLevel() > LogLevel::Debug1;
if (logOutput)
log()->floatPrecision(8);
log()->get(LogLevel::Debug2) << "Process PMFFilter...\n";
auto idx = processGround(input);
PointViewSet viewSet;
if (!idx.empty() && (m_classify || m_extract))
{
if (m_classify)
{
log()->get(LogLevel::Debug2) << "Labeled " << idx.size() << " ground returns!\n";
// set the classification label of ground returns as 2
// (corresponding to ASPRS LAS specification)
for (const auto& i : idx)
{
input->setField(Dimension::Id::Classification, i, 2);
}
viewSet.insert(input);
}
if (m_extract)
{
log()->get(LogLevel::Debug2) << "Extracted " << idx.size() << " ground returns!\n";
// create new PointView containing only ground returns
PointViewPtr output = input->makeNew();
for (const auto& i : idx)
{
output->appendPoint(*input, i);
}
viewSet.erase(input);
viewSet.insert(output);
}
}
else
{
if (idx.empty())
log()->get(LogLevel::Debug2) << "Filtered cloud has no ground returns!\n";
if (!(m_classify || m_extract))
log()->get(LogLevel::Debug2) << "Must choose --classify or --extract\n";
// return the input buffer unchanged
viewSet.insert(input);
}
return viewSet;
}
void btHfFluidRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
processGround (dispatchInfo, resultOut);
btHfFluidBuoyantConvexShape* buoyantShape = (btHfFluidBuoyantConvexShape*)m_rigidCollisionObject->getCollisionShape();
btRigidBody* rb = btRigidBody::upcast(m_rigidCollisionObject);
if (rb)
{
btScalar mass = btScalar(1.0f) / rb->getInvMass ();
btScalar volume = buoyantShape->getTotalVolume ();
btScalar density = mass / volume;
btScalar floatyness = buoyantShape->getFloatyness ();
btScalar submerged_volume = processFluid (dispatchInfo, density, floatyness);
if (submerged_volume > btScalar(0.0))
{
btScalar submerged_percentage = submerged_volume/buoyantShape->getTotalVolume();
//printf("%f\n", submerged_percentage);
btScalar mu = btScalar(6.0f);
applyFluidFriction (mu, submerged_percentage);
}
}
}
