void ContinuousModel::processModelCalculation(Vector* Statek1, Vector* Statek, Vector* Inputs, double integrationInterval)
{
int numIntegrationSteps=1;
if(integrationInterval>maxTimeIntegration)
{
numIntegrationSteps=floor(integrationInterval/maxTimeIntegration);
timeIntegration=integrationInterval/numIntegrationSteps;
}
else
{
numIntegrationSteps=1;
timeIntegration=integrationInterval;
}
// printf("numsteps=%d, intInt=%f, maxTime=%f\n",numIntegrationSteps,integrationInterval,maxTimeIntegration);
for(int i=1;i<=numIntegrationSteps;i++)
{
//Model::processModel(Statek1,Statek,Inputs);
processModel(Statek1,Statek,Inputs);
if(i<=numIntegrationSteps)
{
Statek->copy(Statek1);
//printf("step %d",i);
//Statek1->mostrar();
}
}
return;
}
void ModelLoader::processNode(aiNode *node, const aiScene *scene) {
// process all the node's meshes (if any)
for (unsigned int i = 0; i < node->mNumMeshes; i++) {
aiMesh *mesh = scene->mMeshes[node->mMeshes[i]];
currentScene.models.push_back(processModel(mesh, scene));
}
// then do the same for each of its children
for (unsigned int i = 0; i < node->mNumChildren; i++) {
processNode(node->mChildren[i], scene);
}
}
/**
* Extracts JSON model from a string input
* @param input JSON string
* @param model model to fill in
*/
static void parseModelData(const std::string& input, MatModel& model) {
JSONNode nd = libjson::parse(input);
bool modelset = false;
for (auto i = nd.begin(); i != nd.end(); i++) {
if (i->name() == JsonNames::modelname) {
processModel(*i, model);
modelset = true;
break;
}
}
if (!modelset)
BNB_ERROR_REPORT("Model data missing\n");
}
/* \brief import Assimp file */
int _glhckImportAssimp(glhckObject *object, const char *file, const glhckImportModelParameters *params,
glhckGeometryIndexType itype, glhckGeometryVertexType vtype)
{
const struct aiScene *scene;
glhckObject *first = NULL;
unsigned int aflags;
CALL(0, "%p, %s, %p", object, file, params);
/* import the model using assimp
* TODO: make import hints tunable?
* Needs changes to import protocol! */
aflags = aiProcessPreset_TargetRealtime_Fast | aiProcess_OptimizeGraph;
if (!params->animated && params->flatten) aflags |= aiProcess_PreTransformVertices;
scene = aiImportFile(file, aflags);
if (!scene) goto assimp_fail;
/* mark ourself as special root object.
* this makes most functions called on root object echo to children */
object->flags |= GLHCK_OBJECT_ROOT;
/* this is going to be the first object in mesh,
* the object returned by this importer is just invisible root object. */
if (!(first = glhckObjectNew())) goto fail;
glhckObjectAddChild(object, first);
glhckObjectFree(first);
/* process the model */
if (processModel(file, object, first, scene, scene->mRootNode,
itype, vtype, params) != RETURN_OK)
goto fail;
/* process the animated model part */
if (params->animated && processBonesAndAnimations(object, scene) != RETURN_OK)
goto fail;
/* close file */
NULLDO(aiReleaseImport, scene);
RET(0, "%d", RETURN_OK);
return RETURN_OK;
assimp_fail:
DEBUG(GLHCK_DBG_ERROR, aiGetErrorString());
fail:
IFDO(aiReleaseImport, scene);
IFDO(glhckObjectFree, first);
RET(0, "%d", RETURN_FAIL);
return RETURN_FAIL;
}
void action(iscore::ActionManager& mgr, iscore::MaybeDocument doc) override
{
if(!doc)
{
setEnabled(mgr, false);
return;
}
auto focus = doc->focus.get();
if(!focus)
{
setEnabled(mgr, false);
return;
}
auto lm = dynamic_cast<const Process::LayerModel*>(focus);
if(!lm)
{
setEnabled(mgr, false);
return;
}
auto proc = dynamic_cast<const Scenario::ScenarioInterface*>(&lm->processModel());
if(!proc)
{
setEnabled(mgr, false);
return;
}
const auto& sel = doc->selectionStack.currentSelection();
auto res = any_of(sel, [] (auto obj) {
auto ptr = obj.data();
return bool(dynamic_cast<const Scenario::ConstraintModel*>(ptr))
|| bool(dynamic_cast<const Scenario::EventModel*>(ptr))
|| bool(dynamic_cast<const Scenario::StateModel*>(ptr));
});
setEnabled(mgr, res);
}
bool ModelData::loadModel(const std::string &filePath, const bool createVoxelRep)
{
std::string path = Framework::Utils::FindFileOrThrow(filePath, false);
std::cout << "Loading Model: (" << path << ") \n";
// Create an instance of the Importer class
// And have it read the given file with some example postprocessing
// Usually - if speed is not the most important aspect for you - you'll
// propably to request more postprocessing than we do in this example.
//aiPropertyStore* props = aiCreatePropertyStore();
//aiSetImportPropertyFloat(props, AI_CONFIG_PP_GSN_MAX_SMOOTHING_ANGLE, 80.f);
/*
const aiScene* scene = importer.ReadFile(path,
aiProcess_CalcTangentSpace |
aiProcess_Triangulate |
aiProcess_JoinIdenticalVertices |
aiProcess_SortByPType |
aiProcess_GenSmoothNormals);
//*/
try
{
//const aiScene* scene = importer.ReadFile(path, aiProcessPreset_TargetRealtime_Quality);
const aiScene* scene = importer.ReadFile(path, aiProcessPreset_TargetRealtime_Fast);
// If the import failed, report it
if (!scene)
{
//LOG HERE
return false;
}
// Now we can access the file's contents.
if (!processModel()){
std::cerr << "Unable to load model: (" << path << ") \n";
return false;
}
if (createVoxelRep)
modelVoxels = new Voxel_Rep(importer, this->descType());
else
modelVoxels = new Voxel_Rep(this->descType());
}
catch (std::runtime_error& re) {
std::cerr << "Runtime Error: (" << re.what() << ") " << "\n";
return false;
}
catch (std::out_of_range& oor) {
std::cerr << "Iterator, Out-of-Range Error: (" << oor.what() << ")\nCouldn't load model." << "\n";
return false;
}
catch (std::exception& e2) {
std::cerr << e2.what() << "\n";
return false;
}
std::cout << "Finished Loading Model: (" << path << ") \n";
return true;
}
const ProcessModel& LayerModel::model() const
{
return static_cast<const ProcessModel&>(processModel());
}
static int processModel(const char *file, glhckObject *object,
glhckObject *current, const struct aiScene *sc, const struct aiNode *nd,
glhckGeometryIndexType itype, glhckGeometryVertexType vtype, const glhckImportModelParameters *params)
{
unsigned int m, f;
unsigned int numVertices = 0, numIndices = 0;
unsigned int ioffset, voffset;
glhckImportIndexData *indices = NULL;
glhckImportVertexData *vertexData = NULL;
glhckMaterial *material = NULL;
glhckTexture **textureList = NULL, *texture = NULL;
glhckAtlas *atlas = NULL;
const struct aiMesh *mesh;
const struct aiFace *face;
int canFreeCurrent = 0;
int hasTexture = 0;
assert(file);
assert(object && current);
assert(sc && nd);
/* combine && atlas loading path */
if (params->flatten) {
/* prepare atlas for texture combining */
if (!(atlas = glhckAtlasNew()))
goto assimp_no_memory;
/* texturelist for offseting coordinates */
if (!(textureList = _glhckCalloc(nd->mNumMeshes, sizeof(_glhckTexture*))))
goto assimp_no_memory;
/* gather statistics */
for (m = 0; m != nd->mNumMeshes; ++m) {
mesh = sc->mMeshes[nd->mMeshes[m]];
if (!mesh->mVertices) continue;
for (f = 0; f != mesh->mNumFaces; ++f) {
face = &mesh->mFaces[f];
if (!face) goto fail;
numIndices += face->mNumIndices;
}
numVertices += mesh->mNumVertices;
if ((texture = textureFromMaterial(file, sc->mMaterials[mesh->mMaterialIndex]))) {
glhckAtlasInsertTexture(atlas, texture);
glhckTextureFree(texture);
textureList[m] = texture;
hasTexture = 1;
}
}
/* allocate vertices */
if (!(vertexData = _glhckCalloc(numVertices, sizeof(glhckImportVertexData))))
goto assimp_no_memory;
/* allocate indices */
if (!(indices = _glhckMalloc(numIndices * sizeof(glhckImportIndexData))))
goto assimp_no_memory;
/* pack combined textures */
if (hasTexture) {
if (glhckAtlasPack(atlas, GLHCK_RGBA, 1, 0, glhckTextureDefaultParameters()) != RETURN_OK)
goto fail;
} else {
NULLDO(glhckAtlasFree, atlas);
NULLDO(_glhckFree, textureList);
}
/* join vertex data */
for (m = 0, ioffset = 0, voffset = 0; m != nd->mNumMeshes; ++m) {
mesh = sc->mMeshes[nd->mMeshes[m]];
if (!mesh->mVertices) continue;
if (textureList) texture = textureList[m];
else texture = NULL;
joinMesh(mesh, voffset, indices+ioffset, vertexData+voffset, atlas, texture);
for (f = 0; f != mesh->mNumFaces; ++f) {
face = &mesh->mFaces[f];
if (!face) goto fail;
ioffset += face->mNumIndices;
}
voffset += mesh->mNumVertices;
}
/* create material */
if (hasTexture && !(material = glhckMaterialNew(texture)))
goto assimp_no_memory;
/* finally build the model */
if (buildModel(current, numIndices, numVertices,
indices, vertexData, itype, vtype) == RETURN_OK) {
_glhckObjectFile(current, nd->mName.data);
if (material) glhckObjectMaterial(current, material);
if (!(current = glhckObjectNew())) goto fail;
glhckObjectAddChild(object, current);
glhckObjectFree(current);
canFreeCurrent = 1;
}
/* free stuff */
IFDO(glhckAtlasFree, atlas);
IFDO(glhckMaterialFree, material);
IFDO(_glhckFree, textureList);
NULLDO(_glhckFree, vertexData);
NULLDO(_glhckFree, indices);
} else {
/* default loading path */
for (m = 0, ioffset = 0, voffset = 0; m != nd->mNumMeshes; ++m) {
mesh = sc->mMeshes[nd->mMeshes[m]];
if (!mesh->mVertices) continue;
/* gather statistics */
numIndices = 0;
for (f = 0; f != mesh->mNumFaces; ++f) {
face = &mesh->mFaces[f];
if (!face) goto fail;
numIndices += face->mNumIndices;
}
numVertices = mesh->mNumVertices;
// FIXME: create materialFromAssimpMaterial
// that returns glhckMaterial with correct stuff
/* get texture */
hasTexture = 0;
if ((texture = textureFromMaterial(file, sc->mMaterials[mesh->mMaterialIndex])))
hasTexture = 1;
/* create material */
if (hasTexture && !(material = glhckMaterialNew(texture)))
goto assimp_no_memory;
/* allocate vertices */
if (!(vertexData = _glhckCalloc(numVertices, sizeof(glhckImportVertexData))))
goto assimp_no_memory;
/* allocate indices */
if (!(indices = _glhckMalloc(numIndices * sizeof(glhckImportIndexData))))
goto assimp_no_memory;
/* fill arrays */
joinMesh(mesh, 0, indices, vertexData, NULL, NULL);
/* build model */
if (buildModel(current, numIndices, numVertices,
indices, vertexData, itype, vtype) == RETURN_OK) {
/* FIXME: UGLY */
char pointer[16];
snprintf(pointer, sizeof(pointer), "%p", mesh);
_glhckObjectFile(current, pointer);
if (material) glhckObjectMaterial(current, material);
if (!(current = glhckObjectNew())) goto fail;
glhckObjectAddChild(object, current);
glhckObjectFree(current);
canFreeCurrent = 1;
}
/* free stuff */
NULLDO(_glhckFree, vertexData);
NULLDO(_glhckFree, indices);
IFDO(glhckTextureFree, texture);
IFDO(glhckMaterialFree, material);
}
}
/* process childrens */
for (m = 0; m != nd->mNumChildren; ++m) {
if (processModel(file, object, current, sc, nd->mChildren[m],
itype, vtype, params) == RETURN_OK) {
if (!(current = glhckObjectNew())) goto fail;
glhckObjectAddChild(object, current);
glhckObjectFree(current);
canFreeCurrent = 1;
}
}
/* we din't do anything to the next
* allocated object, so free it */
if (canFreeCurrent) glhckObjectRemoveFromParent(current);
return RETURN_OK;
assimp_no_memory:
DEBUG(GLHCK_DBG_ERROR, "Assimp not enough memory.");
fail:
IFDO(_glhckFree, vertexData);
IFDO(_glhckFree, indices);
IFDO(_glhckFree, textureList);
IFDO(glhckTextureFree, texture);
IFDO(glhckMaterialFree, material);
IFDO(glhckAtlasFree, atlas);
if (canFreeCurrent) glhckObjectRemoveFromParent(current);
return RETURN_FAIL;
}
