void ArtkpApp::update()
{
static int lastCapture = -1;
mFps = getAverageFps();
// switch between capture devices
if ( lastCapture != mCurrentCapture )
{
if ( ( lastCapture >= 0 ) && ( mCaptures[ lastCapture ] ) )
mCaptures[ lastCapture ].stop();
if ( mCaptures[ mCurrentCapture ] )
mCaptures[ mCurrentCapture ].start();
mCapture = mCaptures[ mCurrentCapture ];
lastCapture = mCurrentCapture;
}
// detect the markers
if ( mCapture && mCapture.checkNewFrame() )
{
Surface8u captSurf( mCapture.getSurface() );
mCaptTexture = gl::Texture( captSurf );
mArTracker.update( captSurf );
}
}
void BulletTestApp::shutdown()
{
if ( mCapture && mCapture.isCapturing() ) {
mCapture.stop();
}
if ( mLight ) {
delete mLight;
}
if ( mTerrain != 0 ) {
//delete mTerrain;
}
}
void ArtkpApp::shutdown()
{
if ( mCapture )
{
mCapture.stop();
}
}
void Fluid2DCamAppApp::setup()
{
glEnable( GL_TEXTURE_2D );
mVelThreshold = 0.75f;
mNumActiveFlowVectors = 0;
#if defined( CINDER_MSW )
mVelScale = 0.5f;
mDenScale = 0.0025f;
#elif defined( CINDER_MAC )
mVelScale = 2.0f;
mDenScale = 0.007f;
#endif
mFluid2D.set( mFluid2DResX, mFluid2DResY );
mFluid2D.enableDensity();
mFluid2D.enableVorticityConfinement();
mFluid2D.setNumPressureIters( 24 );
mFluid2D.initSimData();
// Create these so we can create the textures ahead of time
mSurfVel0 = Surface32f( mFluid2DResX, mFluid2DResY, false, SurfaceChannelOrder::RGB );
mSurfVel1 = Surface32f( mFluid2DResX, mFluid2DResY, false, SurfaceChannelOrder::RGB );
mChanDen0 = Channel32f( mFluid2DResX, mFluid2DResY );
mChanDen1 = Channel32f( mFluid2DResX, mFluid2DResY );
mChanDiv = Channel32f( mFluid2DResX, mFluid2DResY );
mChanPrs = Channel32f( mFluid2DResX, mFluid2DResY );
mChanCurl = Channel32f( mFluid2DResX, mFluid2DResY );
mChanCurlLen = Channel32f( mFluid2DResX, mFluid2DResY );
mTexVel0 = gl::Texture( mSurfVel0 );
mTexVel1 = gl::Texture( mSurfVel1 );
mTexDen0 = gl::Texture( mChanDen0 );
mTexDen1 = gl::Texture( mChanDen1 );
mTexDiv = gl::Texture( mChanDiv );
mTexPrs = gl::Texture( mChanPrs );
mTexCurl = gl::Texture( mChanCurl );
mTexCurlLen = gl::Texture( mChanCurlLen );
mParams = params::InterfaceGl( "Params", Vec2i( 300, 400 ) );
mParams.addParam( "Stam Step", mFluid2D.stamStepAddr() );
mParams.addSeparator();
mParams.addParam( "Velocity Threshold", &mVelThreshold, "min=0 max=2 step=0.001" );
mParams.addSeparator();
mParams.addParam( "Velocity Input Scale", &mVelScale, "min=0 max=10 step=0.001" );
mParams.addParam( "Density Input Scale", &mDenScale, "min=0 max=1 step=0.0001" );
mParams.addSeparator();
mParams.addParam( "Velocity Dissipation", mFluid2D.velocityDissipationAddr(), "min=0 max=1 step=0.0001" );
mParams.addParam( "Density Dissipation", mFluid2D.densityDissipationAddr(), "min=0 max=1 step=0.0001" );
mParams.addSeparator();
mParams.addParam( "Velocity Viscosity", mFluid2D.velocityViscosityAddr(), "min=0 max=10 step=0.000001" );
mParams.addParam( "Density Viscosity", mFluid2D.densityViscosityAddr(), "min=0 max=10 step=0.000001" );
mParams.addSeparator();
mParams.addParam( "Vorticity Confinement", mFluid2D.enableVorticityConfinementAddr() );
mParams.addSeparator();
std::vector<std::string> boundaries;
boundaries.push_back( "None" ); boundaries.push_back( "Wall" ); boundaries.push_back( "Wrap" );
mParams.addParam( "Boundary Type", boundaries, mFluid2D.boundaryTypeAddr() );
mParams.addSeparator();
mParams.addParam( "Enable Buoyancy", mFluid2D.enableBuoyancyAddr() );
mParams.addParam( "Buoyancy Scale", mFluid2D.buoyancyScaleAddr(), "min=0 max=100 step=0.001" );
mParams.addParam( "Vorticity Scale", mFluid2D.vorticityScaleAddr(), "min=0 max=1 step=0.001" );
// Camera
try {
mCapture = Capture( 640, 480 );
mCapture.start();
}
catch( ... ) {
console() << "Failed to initialize capture" << std::endl;
}
}
void Fluid2DCamAppApp::update()
{
if( mCapture && mCapture.checkNewFrame() ) {
if( ! mTexCam ) {
mTexCam = gl::Texture( mCapture.getSurface() );
}
// Flip the image
if( ! mFlipped ) {
Surface8u srcImg = mCapture.getSurface();
mFlipped = Surface8u( srcImg.getWidth(), srcImg.getHeight(), srcImg.hasAlpha(), srcImg.getChannelOrder() );
}
Surface8u srcImg = mCapture.getSurface();
mFlipped = Surface8u( srcImg.getWidth(), srcImg.getHeight(), srcImg.hasAlpha(), srcImg.getChannelOrder() );
for( int y = 0; y < mCapture.getHeight(); ++y ) {
const Color8u* src = (const Color8u*)(srcImg.getData() + (y + 1)*srcImg.getRowBytes() - srcImg.getPixelInc());
Color8u* dst = (Color8u*)(mFlipped.getData() + y*mFlipped.getRowBytes());
for( int x = 0; x < mCapture.getWidth(); ++x ) {
*dst = *src;
++dst;
--src;
}
}
// Create scaled image
if( ! mCurScaled ) {
mCurScaled = Surface8u( mFlipped.getWidth()/kFlowScale, mFlipped.getHeight()/kFlowScale, mFlipped.hasAlpha(), mFlipped.getChannelOrder() );
}
ip::resize( mFlipped, &mCurScaled );
// Optical flow
if( mCurScaled && mPrvScaled ) {
mPrvCvData = mCurCvData;
mCurCvData = cv::Mat( toOcv( Channel( mCurScaled ) ) );
if( mPrvCvData.data && mCurCvData.data ) {
int pyrLvels = 3;
int winSize = 3;
int iters = 5;
int poly_n = 7;
double poly_sigma = 1.5;
cv::calcOpticalFlowFarneback( mPrvCvData, mCurCvData, mFlow, 0.5, pyrLvels, 2*winSize + 1, iters, poly_n, poly_sigma, cv::OPTFLOW_FARNEBACK_GAUSSIAN );
if( mFlow.data ) {
if( mFlowVectors.empty() ) {
mFlowVectors.resize( mCurScaled.getWidth()*mCurScaled.getHeight() );
}
//memset( &mFlowVectors[0], 0, mCurScaled.getWidth()*mCurScaled.getHeight()*sizeof( Vec2f ) );
mNumActiveFlowVectors = 0;
for( int j = 0; j < mCurScaled.getHeight(); ++j ) {
for( int i = 0; i < mCurScaled.getWidth(); ++i ) {
const float* fptr = reinterpret_cast<float*>(mFlow.data + j*mFlow.step + i*sizeof(float)*2);
//
Vec2f v = Vec2f( fptr[0], fptr[1] );
if( v.lengthSquared() >= mVelThreshold ) {
if( mNumActiveFlowVectors >= (int)mFlowVectors.size() ) {
mFlowVectors.push_back( std::make_pair( Vec2i( i, j ), v ) );
}
else {
mFlowVectors[mNumActiveFlowVectors] = std::make_pair( Vec2i( i, j ), v );
}
++mNumActiveFlowVectors;
}
}
}
}
}
}
// Update texture
mTexCam.update( mFlipped );
// Save previous frame
if( ! mPrvScaled ) {
mPrvScaled = Surface8u( mCurScaled.getWidth(), mCurScaled.getHeight(), mCurScaled.hasAlpha(), mCurScaled.getChannelOrder() );
}
memcpy( mPrvScaled.getData(), mCurScaled.getData(), mCurScaled.getHeight()*mCurScaled.getRowBytes() );
}
// Update fluid
float dx = (mFluid2DResX - 2)/(float)(640/kFlowScale);
float dy = (mFluid2DResY - 2)/(float)(480/kFlowScale);
for( int i = 0; i < mNumActiveFlowVectors; ++i ) {
Vec2f P = mFlowVectors[i].first;
const Vec2f& v = mFlowVectors[i].second;
mFluid2D.splatDensity( P.x*dx + 1, P.y*dy + 1, mDenScale*v.lengthSquared() );
mFluid2D.splatVelocity( P.x*dx + 1, P.y*dy + 1, v*mVelScale );
}
mFluid2D.step();
// Update velocity
const Vec2f* srcVel0 = mFluid2D.dbgVel0().data();
const Vec2f* srcVel1 = mFluid2D.dbgVel1().data();
Colorf* dstVel0 = (Colorf*)mSurfVel0.getData();
Colorf* dstVel1 = (Colorf*)mSurfVel1.getData();
for( int j = 0; j < mFluid2DResY; ++j ) {
for( int i = 0; i < mFluid2DResX; ++i ) {
*dstVel0 = Colorf( srcVel0->x, srcVel0->y, 0.0f );
*dstVel1 = Colorf( srcVel1->x, srcVel1->y, 0.0f );
++srcVel0;
++srcVel1;
++dstVel0;
++dstVel1;
}
}
// Update Density
mChanDen0 = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgDen0().data() );
mChanDen1 = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgDen1().data() );
mTexDen0.update( mChanDen0 );
mTexDen1.update( mChanDen1 );
// Update velocity textures
mTexVel0.update( mSurfVel0 );
mTexVel1.update( mSurfVel1 );
// Update Divergence
mChanDiv = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgDivergence().data() );
mTexDiv.update( mChanDiv );
// Update Divergence
mChanPrs = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgPressure().data() );
mTexPrs.update( mChanPrs );
// Update Curl, Curl Length
mChanCurl = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgCurl().data() );
mTexCurl.update( mChanCurl );
mChanCurlLen = Channel32f( mFluid2DResX, mFluid2DResY, mFluid2DResX*sizeof(float), 1, mFluid2D.dbgCurlLength().data() );
mTexCurlLen.update( mChanCurlLen );
}
void BulletTestApp::update()
{
// Run next test
if ( mTest != mTestPrev ) {
mTestPrev = mTest;
initTest();
}
mFrameRate = getAverageFps();
// Update light
mLight->update( mCamera );
if ( mTest < 3 ) {
// Set box rotation
float rotation = math<float>::sin( ( float )getElapsedSeconds() * 0.3333f ) * 0.35f ;
mGroundTransform.setRotation( btQuaternion( 0.25f, 0.0f, 1.0f + rotation * 0.1f, rotation ) );
mGroundTransform.setOrigin( btVector3( 0.0f, -60.0f, 0.0f ) );
// Apply rotation to box
btRigidBody* body = bullet::toBulletRigidBody( mGround );
body->getMotionState()->setWorldTransform( mGroundTransform );
body->setWorldTransform( mGroundTransform );
} else if ( mTest == 6 ) {
// Read data
Channel32f& input = mTerrain->getData();
// Get image dimensions
int32_t height = input.getHeight();
int32_t width = input.getWidth();
// Create output channel
Channel32f output = Channel32f( width, height );
// Move pixel value over by one
for ( int32_t y = 0; y < height; y++ ) {
for ( int32_t x = 0; x < width; x++ ) {
float value = input.getValue( Vec2i( x, y ) );
Vec2i position( ( x + 1 ) % width, ( y + 1 ) % height );
output.setValue( position, value );
}
}
// Copy new data back to original
input.copyFrom( output, output.getBounds() );
// Shift texture coordinates to match positions
vector<Vec2f>& texCoords = mTerrain->getTexCoords();
Vec2f delta( 1.0f / (float)width, 1.0f / (float)height );
for ( vector<Vec2f>::iterator uv = texCoords.begin(); uv != texCoords.end(); ++uv ) {
*uv -= delta;
}
// Update terrain VBO
mTerrain->updateVbo();
} else if ( mTest == 7 ) {
bool init = !mSurface;
if ( mCapture.isCapturing() && mCapture.checkNewFrame() ) {
mSurface = mCapture.getSurface();
ip::flipVertical( &mSurface );
if ( init ) {
mTerrain = new DynamicTerrain( Channel32f( 160, 160 ), -1.0f, 1.0f, Vec3f( 2.0f, 70.0f, 2.0f ), 0.0f );
mWorld->pushBack( mTerrain );
btRigidBody* terrain = ( btRigidBody* )mTerrain->getBulletBody();
terrain->setAngularFactor( 0.6f );
terrain->setFriction( 0.6f );
} else {
mTerrain->getData().copyFrom( Channel32f( mSurface ), Area( 0, 0, 160, 160 ) );
mTerrain->updateVbo();
}
}
}
// Update dynamics world
mWorld->update( mFrameRate );
/*if ( mGround ) {
Iter iter = mWorld->find( mGround );
OutputDebugStringA( toString( iter->getPosition().x ).c_str() );
OutputDebugStringA( "\n" );
}*/
// Remove out of bounbds objects
for ( bullet::Iter object = mWorld->begin(); object != mWorld->end(); ) {
if ( object != mWorld->begin() && object->getPosition().y < -800.0f ) {
object = mWorld->erase( object );
} else {
++object;
}
}
// Remove objects when count is too high
uint32_t max = mTest >= 4 ? MAX_OBJECTS_TERRAIN : MAX_OBJECTS;
if ( mWorld->getNumObjects() > max + 1 ) {
for ( uint32_t i = 1; i < mWorld->getNumObjects() - MAX_OBJECTS_TERRAIN; i++ ) {
mWorld->erase( mWorld->begin() + 1 );
}
}
}
void BulletTestApp::initTest()
{
// Clean up last test
if ( mWorld ) {
mWorld->clear();
}
// Used when generating terrain
Channel32f heightField;
// Create and add the wobbly box
mGroundTransform.setIdentity();
switch ( mTest ) {
case 0:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
bullet::createRigidSphere( mWorld, 50.0f, 64, 0.0f, Vec3f( 0.0f, -50.0f, 0.0f ) );
break;
case 1:
mGround = bullet::createRigidHull( mWorld, mConvex, Vec3f::one() * 50.0f, 0.0f );
break;
case 2:
mGround = bullet::createRigidMesh( mWorld, mConcave, Vec3f( 10.0f, 1.0f, 10.0f ), 0.0f, 0.0f );
break;
case 3:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
break;
case 4:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
break;
case 5:
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD_SM ) ) );
mGround = bullet::createRigidTerrain( mWorld, heightField, -1.0f, 1.0f, Vec3f( 6.0f, 80.0f, 6.0f ), 0.0f );
break;
case 6:
// ADVANCED: To add a custom class, create a standard pointer to it and
// pushBack it into your world. Be sure to delete this pointer when you no loinger need it
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD ) ) );
mTerrain = new DynamicTerrain( heightField, -1.0f, 1.0f, Vec3f( 2.0f, 50.0f, 2.0f ), 0.0f );
mWorld->pushBack( mTerrain );
break;
case 7:
// Start capture
if ( !mCapture ) {
mCapture = Capture( 320, 240 );
mCapture.start();
}
break;
}
// Set friction for box
if ( mTest < 5 ) {
btRigidBody* boxBody = bullet::toBulletRigidBody( mGround );
boxBody->setFriction( 0.95f );
}
}
void BulletTestApp::initTest()
{
// Clean up last test
if ( mWorld ) {
mWorld->clear();
mWorld->getInfo().m_sparsesdf.Reset();
}
// Used when generating terrain
Channel32f heightField;
// Create and add the wobbly box
btSoftBody* body = 0;
btSoftBody::Material* material = 0;
mGroundTransform.setIdentity();
switch ( mTest ) {
case 0:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
bullet::createRigidSphere( mWorld, 50.0f, 0.0f, Vec3f( 0.0f, -50.0f, 0.0f ) );
break;
case 1:
mGround = bullet::createRigidHull( mWorld, mConvex, Vec3f::one() * 50.0f, 0.0f );
break;
case 2:
mGround = bullet::createRigidMesh( mWorld, mConcave, Vec3f( 10.0f, 1.0f, 10.0f ), 0.0f, 0.0f );
break;
case 5:
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD_SM ) ) );
mGround = bullet::createRigidTerrain( mWorld, heightField, -1.0f, 1.0f, Vec3f( 6.0f, 80.0f, 6.0f ), 0.0f );
break;
case 6:
// ADVANCED: To add a custom class, create a standard pointer to it and
// pushBack it into your world. Be sure to delete this pointer when you no longer need it.
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD ) ) );
mTerrain = new DynamicTerrain( heightField, -1.0f, 1.0f, Vec3f( 2.0f, 50.0f, 2.0f ), 0.0f );
mWorld->pushBack( mTerrain );
break;
case 7:
// Start capture
if ( !mCapture ) {
mCapture = Capture( 320, 240 );
mCapture.start();
}
break;
case 8:
mWorld->getInfo().m_gravity = toBulletVector3( Vec3f( 0.0f, -0.5f, 0.0f ) );
mGround = bullet::createSoftCloth( mWorld, Vec2f::one() * 180.0f, Vec2i( 18, 20 ), SoftCloth::CLOTH_ATTACH_CORNER_ALL, Vec3f( 0.0f, 0.0f, 40.0f ), Quatf( 0.0f, 0.0f, 0.0f, 0.1f ) );
body = toBulletSoftBody( mGround );
body->m_materials[ 0 ]->m_kAST = 0.2f;
body->m_materials[ 0 ]->m_kLST = 0.2f;
body->m_materials[ 0 ]->m_kVST = 0.2f;
body->m_cfg.kDF = 0.9f;
body->m_cfg.kSRHR_CL = 1.0f;
body->m_cfg.kSR_SPLT_CL = 0.0f;
body->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS;
body->getCollisionShape()->setMargin( 0.0001f );
body->setTotalMass( 500.0f );
body->generateClusters( 0 );
material = body->appendMaterial();
material->m_kAST = 0.5f;
material->m_kLST = 0.5f;
material->m_kVST = 1.0f;
body->generateBendingConstraints( 1, material );
break;
case 9:
heightField = Channel32f( loadImage( loadResource( RES_IMAGE_HEIGHTFIELD_SM ) ) );
mGround = bullet::createRigidTerrain( mWorld, heightField, -1.0f, 1.0f, Vec3f( 6.0f, 80.0f, 6.0f ), 0.0f );
break;
default:
mGround = bullet::createRigidBox( mWorld, Vec3f( 200.0f, 35.0f, 200.0f ), 0.0f );
break;
}
// Set friction for box
if ( mTest < 5 ) {
btRigidBody* boxBody = bullet::toBulletRigidBody( mGround );
boxBody->setFriction( 0.95f );
}
}
