void SmilesApp::detectSmiles(const RImage<float> &pixels)
{
mFaces.clear();
// Find Smiles
if( mMPSmile->findSmiles( pixels, mFaces, 1.00, wt_avg ) ){
//console() << " findSmiles error " << endl;
return;
}
mSmileResponse = 0;
// The result is in faces(VisualObject).
if(!mFaces.empty()) {
for(list<VisualObject *>::iterator it = mFaces.begin(); it != mFaces.end(); ++it) {
mFace = static_cast<FaceObject*>(*it);
mSmileResponse = mFace->activation;
mSmileResponse = max( 0.0f, min( mSmileResponse, mSmileLimit ) ) / mSmileLimit;
}
//console() << mFaces.size() << " faces detected!" << endl;
}else{
//console() << " no faces detected " << endl;
}
mSmileAverage[mSmileAverageIndex] = mSmileResponse;
mSmileAverageIndex++;
if(mSmileAverageIndex>=mSmileAverageNumOfFrames)mSmileAverageIndex=0;
float smileSum = 0;
for(int i=0;i<mSmileAverageNumOfFrames;i++){
smileSum += mSmileAverage[i];
}
mSmileThreshold = smileSum/mSmileAverageNumOfFrames;
}
void Muzzleflasher::updateMuzzleflash(IPointableObject *unit, VisualObject *muzzleflash, const std::string &name, const std::string &helper, const VC3 &pos, const VC3 &scale)
{
game::Unit *u = (game::Unit *)unit;
VisualObject *vo = u->getVisualObject();
if (vo == NULL || vo->getStormModel() == NULL)
{
return;
}
IStorm3D_Model_Object *object = vo->getStormModel()->SearchObject(name.c_str());
if(object == NULL)
{
// didn't find it - add it
createMuzzleflash(unit, muzzleflash, name, helper);
object = vo->getStormModel()->SearchObject(name.c_str());
if(object == NULL)
{
return;
}
}
object->SetPosition(pos);
object->SetScale(scale);
//object->SetRotation(rot);
}
void Scene::Draw()
{
//myDirectXRenderer->LoadShaderFromFile("firstshader", "../Shaders/TextShader.fx", "TextShader", "ColorShader");
myDirectXRenderer->SetUpWorld(currentCamera->getPosition(), currentCamera->getProjectionMatrix());
//myDirectXRenderer->SetShader("firstshader");
for(std::vector<VisualObject*>::iterator i = activeObjects.begin(); i != activeObjects.end(); ++i)
{
VisualObject* currentobj = *i;
currentobj->draw(myDirectXRenderer);
}
//myDirectXRenderer->StopRenderingWithShaders();
}
void Muzzleflasher::createMuzzleflash(IPointableObject *unit,
VisualObject *muzzleflash, const std::string &name, const std::string &helper)
{
// WARNING: unsafe cast!
game::Unit *u = (game::Unit *)unit;
VisualObject *vo = u->getVisualObject();
vo->combine(muzzleflash, name.c_str(), helper.c_str());
}
Explosion::Explosion(Graphics::IGraphics & graphics, VisualObject & object, Common::Game::Position direction) :
m_graphics(graphics),
m_object(object),
m_direction(direction)
{
auto & scene = graphics.getSceneManager();
auto objectPosition = object.getOgreSceneNode().getPosition();
auto origin = objectPosition - (graphics.toOgreVector3(m_direction) * 50);
auto ogreDirection = graphics.toOgreVector3(m_direction).normalisedCopy();
LOG_DEBUG << "Origin for raycast: " << origin << " (object pos: " << objectPosition << ", direction: " << m_direction << ")";
Ogre::Ray ray(origin, ogreDirection);
Graphics::Raycast raycast(graphics.getSceneManager());
Graphics::RaycastResult result;
raycast.cast(ray, [&](Ogre::Entity * entity, Ogre::Vector3 position) -> bool
{
if (entity == &object.getOgreEntity())
{
result.valid = true;
result.entity = entity;
result.position = position;
return false;
}
else
{
return true;
}
});
if (!result.valid)
{
throw std::runtime_error("cant raycast to determinate explosion position");
}
std::stringstream ss;
ss << "explosion-particle-" << m_id++;
m_ps = scene.createParticleSystem(ss.str(), "Explosion");
// FIXME: hax caused by VisualObject which scales ogre node by 100
auto explosionPositionDelta = (result.position - object.getOgreSceneNode().getPosition()) / 100;
// FIXME: another hax caused by rotating mesh by 90d in VisualObject
Ogre::Quaternion rotation(Ogre::Degree(90), Ogre::Vector3(0, 1, 0));
explosionPositionDelta = rotation * explosionPositionDelta;
LOG_DEBUG << "Creating explosion, object pos: " << object.getOgreSceneNode().getPosition() << ", explosion pos: " << explosionPositionDelta;
auto * psNode = object.getOgreSceneNode().createChildSceneNode();
psNode->setPosition(explosionPositionDelta);
psNode->yaw(Ogre::Degree(-90));
psNode->attachObject(m_ps);
}
void Muzzleflasher::deleteMuzzleflash(IPointableObject *unit, const std::string &name)
{
// WARNING: unsafe cast!
game::Unit *u = (game::Unit *)unit;
VisualObject *vo = u->getVisualObject();
if (vo != NULL)
{
vo->removeObject(name.c_str());
}
else
{
Logger::getInstance()->warning(("Muzzleflasher::deleteMuzzleflash - no object found with name: " + name).c_str());
}
}
void SmilesApp::draw()
{
gl::enableAlphaBlending();
gl::clear( Color::black() );
gl::color(1.0f, 1.0f, 1.0f);
// draw webcam capture
if( !mCapture || !mSurface )
return;
gl::draw( gl::Texture(mSurface) );
if(mGreyChannel){
gl::pushMatrices();{
gl::translate(mSmileRect.getUpperLeft());
gl::draw( gl::Texture(mGreyChannel) );
}gl::popMatrices();
}
// draw rect that actually gets analysed:
gl::color(ColorA(0.0f, 1.0f, 0.0f, 1.0f));
gl::drawStrokedRect(mSmileRect);
gl::drawStrokedCircle(mSmileRect.getUpperLeft(), 10);
gl::drawStrokedCircle(mSmileRect.getUpperRight(), 10);
gl::drawStrokedCircle(mSmileRect.getLowerLeft(), 10);
gl::drawStrokedCircle(mSmileRect.getLowerRight(), 10);
//draw mSmileThreshold
gl::pushMatrices();{
gl::color(ColorA(1.0f, 0.0f, 0.0f, 0.3f));
gl::drawSolidRect(Rectf( 0, (1-mSmileThreshold)*getWindowHeight(), getWindowWidth(), getWindowHeight() ) );
gl::drawStrokedRect( Rectf(0, 0, getWindowWidth(), getWindowHeight() ) );
}gl::popMatrices();
//draw faces
if(!mFaces.empty()){
gl::pushMatrices();{
gl::translate(mSmileRect.getUpperLeft());
gl::color(1.0f, 1.0f, 1.0f);
for(list<VisualObject *>::iterator it = mFaces.begin(); it != mFaces.end(); ++it) {
mFace = static_cast<FaceObject*>(*it);
gl::drawStrokedRect(Rectf(mFace->x, mFace->y, mFace->x+mFace->xSize, mFace->y+mFace->ySize ));
}
}gl::popMatrices();
}
mParams.draw();
}
void Muzzleflasher::createMuzzleflash(IPointableObject *unit,
VisualObject *muzzleflash, int muzzleFlashBarrelNumber)
{
// WARNING: unsafe cast!
game::Unit *u = (game::Unit *)unit;
std::string barrelName = "WeaponBarrel";
if (muzzleFlashBarrelNumber >= 2)
barrelName += int2str(muzzleFlashBarrelNumber);
std::string modelHelperName = std::string("HELPER_MODEL_") + barrelName;
const char *weaponHelper = modelHelperName.c_str();
//char *weaponHelper = "HELPER_MODEL_WeaponBarrel";
VisualObject *vo = u->getVisualObject();
vo->combine(muzzleflash, "muzzleflash", weaponHelper);
}
void BuildingAdder::addBuilding(Game *game, const VC3 &position,
const char *filename, GamePhysics *gamePhysics)
{
Building *b = new Building(filename);
game->buildings->addBuilding(b);
createVisualForBuilding(game, b);
//VC2I mapPos = b->getMapPosition();
//float x = gameMap->configToScaledX(mapPos.x);
//float y = gameMap->configToScaledY(mapPos.y);
//b->setPosition(VC3(x, gameMap->getScaledHeightAt(x, y), y));
VC3 pos = position;
b->setPosition(pos);
game->getGameScene()->addBuildingObstacle(b, buildingadder_enableterraincut);
VisualObject *vo = b->getVisualObject();
if (vo != NULL)
{
// Damn, should change the buidlinghandler to use the
// visual object instead of storm models...
// Add to building handler too
game->gameUI->buildingHandler.addBuilding(vo->model);
b->addPhysics(gamePhysics);
// NOTE: these resources should be freed. (but cannot be, because we might be in physics simulation/because
// the actual mesh cooking is done at next sync, not right now... (applies to PhysX)
// NOTE: also, ODE physics will pose same kind of problems (possibly even more due to multithreaded cooking)
// MOVED THIS LATER ON...
#ifdef PHYSICS_NONE
if(vo->getStormModel())
{
vo->getStormModel()->FreeMemoryResources();
}
#endif
}
// TODO: not an optimal solution doing this after every single
// building!
game->gameMap->applyObstacleHeightChanges();
}
bool Muzzleflasher::getMuzzleflash(IPointableObject *unit, VisualObject *muzzleflash, const std::string &name, const std::string &helper, VC3 &pos, VC3 &scale, QUAT &rot)
{
game::Unit *u = (game::Unit *)unit;
VisualObject *vo = u->getVisualObject();
if (vo == NULL || vo->getStormModel() == NULL)
{
return false;
}
IStorm3D_Model_Object *object = vo->getStormModel()->SearchObject(name.c_str());
if(object == NULL)
{
return false;
}
pos = object->GetPosition();
scale = object->GetScale();
rot = object->GetRotation();
return true;
}
void BuildingAdder::createVisualForBuilding(Game *game, Building *building)
{
// another quick haxor
// maybe should check that the visual does not already exist
//VisualObjectModel *vom = new VisualObjectModel(building->getModelFilename());
VisualObjectModel *vom = game->visualObjectModelStorage->getVisualObjectModel(building->getModelFilename());
VisualObject *vo = vom->getNewObjectInstance();
building->setVisualObject(vo);
vo->setInScene(true);
vo->setDataObject(building);
// disable collision to "firethrough" collision layer...
IStorm3D_Model *model = vo->getStormModel();
if(model)
{
const VC3 &sunDir = game->getGameUI()->getTerrain()->getSunDirection();
model->SetDirectional(sunDir, 1.f);
}
Iterator<IStorm3D_Model_Object *> *objectIterator;
for(objectIterator = model->ITObject->Begin(); !objectIterator->IsEnd(); objectIterator->Next())
{
IStorm3D_Model_Object *object = objectIterator->GetCurrent();
const char *name = object->GetName();
if (strstr(name, "FireThrough") != NULL)
{
object->SetNoCollision(true);
}
}
delete objectIterator;
// add building for self-illum (lightmap brightness) changes...
game->gameUI->getLightManager()->getSelfIlluminationChanger()->addModel(vo->getStormModel());
}
void ScribbleArea::loadMyFormat(const QString &fileName)
{
QFile file(fileName);
file.open(QIODevice::ReadOnly);
QDataStream in(&file);
in.setVersion(QDataStream::Qt_5_4);
quint32 label;
in >> label;
if (label != 0xA0B0C0D0)
return;
in >> canvas >> backGround;
while (!in.atEnd()) {
QString label;
in >> label;
VisualObject *obj = factory.getPlugin(label);
obj->readFromStram(in);
AllShape.append(obj);
}
update();
}
double MPBlink::findBlinks(const RImage<float> &pixels, VisualObject &faces,
float WINSHIFT, combine_mode mode){
// First, find the faces
static int lastimgWidth = 0, lastimgHeight = 0;
if (pixels.width != lastimgWidth || pixels.height != lastimgHeight) {
eyefinder.resetStream(pixels.width, pixels.height);
lastimgWidth = pixels.width;
lastimgHeight = pixels.height;
}
eyefinder.findEyes(pixels, faces, WINSHIFT, mode);
if(!faces.size())
return 0;
get_eyes(pixels, faces);
return 1;
}
void MPBlink::get_eyes(const RImage<float> &pixels, VisualObject &faces){
list<VisualObject *>::iterator it = faces.begin();
FaceBoxList face;
double act[10];
for (; it != faces.end(); ++it) {
FaceObject * f = static_cast<FaceObject*>(*it);
if (f->eyes.rightEye && f->eyes.leftEye){
if( debug ){
printf("eyes.xLeft[%f] yLeft[%f]\n", f->eyes.xLeft, f->eyes.yLeft);
printf("eyes.xRight[%f] yRight[%f]\n", f->eyes.xRight, f->eyes.yRight);
}
double xd = f->eyes.xLeft - f->eyes.xRight;
double yd = f->eyes.yLeft - f->eyes.yRight;
float eye_dist = sqrt((xd*xd +yd*yd));
float sin_d = -yd/xd;
float cos_d = eye_dist/xd;
float h_eye_zero = max(0.0,f->eyes.xRight-eye_dist*(h_eye_factor+h_off_pct));
float v_eye_zero = max(0.0,f->eyes.yRight-eye_dist*(v_eye_factor+v_off_pct));
float xwidth = eye_dist*(1 + 2*h_eye_factor);
float ywidth = eye_dist*(2*v_eye_factor);
int xedges;
int yedges;
float xfrac;
float yfrac;
float yoff[eye_dest_width];
double xstep = xwidth/static_cast<double>(eye_dest_width-1);
double ystep = ywidth/static_cast<double>(eye_dest_height-1);
float j;
int i;
for(i = 0, j = 0; i < eye_dest_width; ++i, j+=xstep){
yoff[i] = -sin_d * j;
}
float tempx, tempy;
float *p = eyes.array;
float f00, f01, f11, f10, fx0, fx1;
for(int y=0; y < eye_dest_height; ++y){
float xinit = (sin_d * ystep*y)+h_eye_zero;
float yinit = v_eye_zero + ystep*y;
for(int x=0; x < eye_dest_width; ++x){
tempx = xinit + xstep*x;
tempy = yinit + yoff[x];
xedges = static_cast<int>(tempx);
yedges = static_cast<int>(tempy);
xfrac = tempx - xedges;
yfrac = tempy - yedges;
f00 = pixels.getPixel(xedges,yedges);
f01 = pixels.getPixel(xedges,yedges + 1);
f10 = pixels.getPixel(xedges + 1,yedges);
f11 = pixels.getPixel(xedges + 1,yedges + 1);
// xfrac and y frac are the remainders
fx0 = f00 + xfrac*(f10-f00);
fx1 = f01 + xfrac*(f11-f01);
*(p++) = (fx0 + yfrac*(fx1-fx0));
// eyes.setPixel(x,y,(fx0 + yfrac*(fx1-fx0)));
}
}
//eyes.print();
debug = false;
int num_blink_windows = search(eyes, face, 0, 1.0, 0, act,0);
(*it)->activation = act[0];
if( debug ){
printf("num_blink_windows: %d, activation: %f\n",
num_blink_windows, act[0]);
}
//f->activation = cluster.UpdateCluster(f->activation) - f->activation;
}
else
f->activation = 0.0f;
}
}
bool CamSimulator::getObjectsFromParamServer()
{
XmlRpc::XmlRpcValue param_yaml;
if (!nhandle_.getParam("objects", param_yaml))
{
ROS_ERROR("Cannot read 'objects' from parameter server");
return false;
}
if(param_yaml.getType() != XmlRpc::XmlRpcValue::TypeArray) // list of objects
{
ROS_ERROR("'objects' struct is not correct.");
return false;
}
bool retval = true;
objects_.clear();
// XmlRpc does not support an implicit conversion between int and double.
// Therefore we define a small function for cases in which conversion is desired!
auto convDouble = [] (XmlRpc::XmlRpcValue& val) -> double
{
if (val.getType() == XmlRpc::XmlRpcValue::TypeInt) // XmlRpc cannot cast int to double
return int(val);
return val; // if not double, an exception is thrown;
};
// iterate objects
for (int i = 0; i < param_yaml.size(); ++i)
{
if(param_yaml[i].getType() != XmlRpc::XmlRpcValue::TypeStruct)
{
ROS_ERROR_STREAM("invalid parameter struct 'objects' found");
retval = false;
}
for (XmlRpc::XmlRpcValue::iterator it_obj=param_yaml[i].begin(); it_obj!=param_yaml[i].end(); ++it_obj) // object name + struct
{
// Create new empty object
VisualObject object;
object.name() = it_obj->first;
if (it_obj->second.getType() != XmlRpc::XmlRpcValue::TypeStruct)
{
ROS_ERROR_STREAM("Syntax of object '" << object.name() << "' is invalid. Skipping object...");
retval = false;
continue;
}
// iterate elements of the struct
for (XmlRpc::XmlRpcValue::iterator it_elem=it_obj->second.begin(); it_elem!=it_obj->second.end(); ++it_elem) // object name + struct
{
// check parameter pose
if (it_elem->first == "pose")
{
// the second paretmer must be a double array of size 6
if (it_elem->second.getType() == XmlRpc::XmlRpcValue::TypeArray && it_elem->second.size() == 6)
{
try
{
object.position().setX( convDouble(it_elem->second[0]) );
object.position().setY( convDouble(it_elem->second[1]) );
object.position().setZ( convDouble(it_elem->second[2]) );
object.orientation() = tf::createQuaternionFromRPY( convDouble(it_elem->second[3]),
convDouble(it_elem->second[4]),
convDouble(it_elem->second[5]) );
}
catch (const XmlRpc::XmlRpcException& ex)
{
ROS_ERROR_STREAM("Cannot add pose element to object '" << object.name() << "': " << ex.getMessage());
retval = false;
}
}
else
{
ROS_ERROR_STREAM("Object '" << object.name() << "' does not define a correct 6d pose");
retval = false;
}
continue;
}
// check parameter shape
if (it_elem->first == "shape")
{
try
{
if (it_elem->second == "circle")
{
object.shape() = VisualObject::Shape::CIRCLE;
}
else if (it_elem->second == "rectangle")
{
object.shape() = VisualObject::Shape::RECTANGLE;
}
else
{
ROS_ERROR_STREAM("Shape '" << it_elem->second << "' is not supported. Supported shapes are: 'circle', 'rectangle'. ");
}
}
catch (const XmlRpc::XmlRpcException& ex)
{
ROS_ERROR_STREAM("Cannot add shape to object '" << object.name() << "': " << ex.getMessage());
retval = false;
}
continue;
}
// check parameter width
if (it_elem->first == "width")
{
try
{
object.width() = convDouble(it_elem->second);
}
catch (const XmlRpc::XmlRpcException& ex)
{
ROS_ERROR_STREAM("Cannot read width of object '" << object.name() << "': " << ex.getMessage());
retval = false;
}
continue;
}
// check parameter height
if (it_elem->first == "height")
{
try
{
object.height() = convDouble(it_elem->second);
}
catch (const XmlRpc::XmlRpcException& ex)
{
ROS_ERROR_STREAM("Cannot read height of object '" << object.name() << "': " << ex.getMessage());
retval = false;
}
continue;
}
// check parameter color
if (it_elem->first == "color")
{
// the second paretmer must be an int array of size 3
if (it_elem->second.getType() == XmlRpc::XmlRpcValue::TypeArray && it_elem->second.size() == 3)
{
try
{
object.color().r = it_elem->second[0];
object.color().g = it_elem->second[1];
object.color().b = it_elem->second[2];
}
catch (const XmlRpc::XmlRpcException& ex)
{
ROS_ERROR_STREAM("Cannot read color of object '" << object.name() << "': " << ex.getMessage());
retval = false;
}
}
else
{
ROS_ERROR_STREAM("Object '" << object.name() << "' does not define a correct color (must be a 3d array)");
retval = false;
}
continue;
}
}
// add object to container
objects_.push_back(object);
}
}
return retval;
}
