void Vizzer::init(ApplicationData &app)
{
m_meshes.resize(20);
//const FloatType radius, const ml::vec3<FloatType>& pos, const size_t stacks /*= 10*/, const size_t slices /*= 10*/, const ml::vec4<FloatType>& color
for (int i = 0; i < 20; i++)
{
const vec3f pos = vec3f(util::randomUniform(-1.0f, 1.0f), util::randomUniform(-1.0f, 1.0f), util::randomUniform(-1.0f, 1.0f));
const vec4f color = vec4f(util::randomUniform(0.5f, 1.0f), util::randomUniform(0.5f, 1.0f), util::randomUniform(0.5f, 1.0f), 1.0f);
m_meshes[i].load(app.graphics, TriMeshf(Shapesf::sphere(util::randomUniform(0.1f, 0.2f), pos, 10, 10, color)));
}
const string shaderDir = "../../frameworkD3D11/shaders/";
m_vsColor.load(app.graphics, shaderDir + "test.shader");
m_psColor.load(app.graphics, shaderDir + "test.shader");
m_constants.init(app.graphics);
vec3f eye(1.0f, 1.0f, 4.5f);
vec3f worldUp(0.0f, 0.0f, 1.0f);
m_camera = Cameraf(-eye, worldUp, vec3f::origin, 60.0f, (float)app.window.getWidth() / app.window.getHeight(), 0.01f, 1000.0f, true);
m_font.init(app.graphics, "Calibri");
m_world = mat4f::identity();
}
void SuperSolarSystemApp::BuildCubeFaceCamera( float x, float y, float z )
{
// 以给定位置生成CubeMap
XMFLOAT3 center( x, y, z );
XMFLOAT3 worldUp( 0.0f, 1.0f, 0.0f );
// 看向6个方向
XMFLOAT3 targets[6] =
{
XMFLOAT3( x + 1.0f, y, z ), // +X
XMFLOAT3( x - 1.0f, y, z ), // -X
XMFLOAT3( x, y + 1.0f, z ), // +Y
XMFLOAT3( x, y - 1.0f, z ), // -Y
XMFLOAT3( x, y, z + 1.0f ), // +Z
XMFLOAT3( x, y, z - 1.0f ) // -Z
};
// 指定照相机的Up向量, 注意 +Y/-Y 不一样
XMFLOAT3 ups[6] =
{
XMFLOAT3( 0.0f, 1.0f, 0.0f ), // +X
XMFLOAT3( 0.0f, 1.0f, 0.0f ), // -X
XMFLOAT3( 0.0f, 0.0f, -1.0f ), // +Y
XMFLOAT3( 0.0f, 0.0f, +1.0f ), // -Y
XMFLOAT3( 0.0f, 1.0f, 0.0f ), // +Z
XMFLOAT3( 0.0f, 1.0f, 0.0f ) // -Z
};
for ( int i = 0; i < 6; ++i )
{
mCubeMapCamera[i].LookAt( center, targets[i], ups[i] );
mCubeMapCamera[i].SetProj( 0.5f*XM_PI, 1.0f, 0.1f, 1000.0f );
mCubeMapCamera[i].UpdateView( );
}
}
void RendererD3D::RotateWorldZAxis(double angle)
{
D3DXVECTOR3 worldUp( 0.0f, 0.0f, 1.0f );
// Rotate about world Z axis
m_pStack->RotateAxis( &worldUp, (FLOAT) D3DXToRadian( angle ) );
}
void Billboard::LookAt(Vec3f ObjectPosition, Vec3f TargetPosition, Matrix4& matrix) // not quiet correct yet
{
Vec3f worldUp( 0.f, 0.f, 1.f);
Vec3f i;
Vec3f j;
Vec3f k;
k = TargetPosition - ObjectPosition;
k.normalize();
i = worldUp.crossProductWith(k);
i.normalize();
j = k.crossProductWith(i);
// make matrix
matrix.m_matrix[0] = i.x; matrix.m_matrix[1] = i.y; matrix.m_matrix[2] = i.z; matrix.m_matrix[3] = 0;
matrix.m_matrix[4] = j.x; matrix.m_matrix[5] = j.y; matrix.m_matrix[6] = j.z; matrix.m_matrix[7] = 0;
matrix.m_matrix[8] = k.x; matrix.m_matrix[9] = k.y; matrix.m_matrix[10] = k.z; matrix.m_matrix[11] = 0;
matrix.m_matrix[12] = 0.0f; matrix.m_matrix[13] = 0.0f; matrix.m_matrix[14] = 0.0f; matrix.m_matrix[15] = 1;
}
void Billboard::WorldAligned(Vec3f BillboardPosition, Vec3f CameraPosition, Matrix4& matrix)
{
Vec3f worldUp( 0.f, 0.f, 1.f );
Vec3f i;
Vec3f j;
Vec3f k;
k = CameraPosition - BillboardPosition;
k.normalize();
i = worldUp.crossProductWith(k);
i.normalize();
j = k.crossProductWith(i);
// make matrix
matrix.m_matrix[0] = i.x; matrix.m_matrix[1] = i.y; matrix.m_matrix[2] = i.z; matrix.m_matrix[3] = 0;
matrix.m_matrix[4] = j.x; matrix.m_matrix[5] = j.y; matrix.m_matrix[6] = j.z; matrix.m_matrix[7] = 0;
matrix.m_matrix[8] = k.x; matrix.m_matrix[9] = k.y; matrix.m_matrix[10] = k.z; matrix.m_matrix[11] = 0;
matrix.m_matrix[12] = BillboardPosition.x; matrix.m_matrix[13] = BillboardPosition.y; matrix.m_matrix[14] = BillboardPosition.z; matrix.m_matrix[15] = 1;
}
void D3DPBRApp::BuildCubeFaceCamera(float x, float y, float z)
{
// Generate the cube map about the given position.
XMFLOAT3 center(x, y, z);
XMFLOAT3 worldUp(0.0f, 1.0f, 0.0f);
// Look along each coordinate axis.
XMFLOAT3 targets[6] =
{
XMFLOAT3(x+1.0f, y, z), // +X
XMFLOAT3(x-1.0f, y, z), // -X
XMFLOAT3(x, y+1.0f, z), // +Y
XMFLOAT3(x, y-1.0f, z), // -Y
XMFLOAT3(x, y, z+1.0f), // +Z
XMFLOAT3(x, y, z-1.0f) // -Z
};
// Use world up vector (0,1,0) for all directions except +Y/-Y. In these cases, we
// are looking down +Y or -Y, so we need a different "up" vector.
XMFLOAT3 ups[6] =
{
XMFLOAT3(0.0f, 1.0f, 0.0f), // +X
XMFLOAT3(0.0f, 1.0f, 0.0f), // -X
XMFLOAT3(0.0f, 0.0f, -1.0f), // +Y
XMFLOAT3(0.0f, 0.0f, +1.0f), // -Y
XMFLOAT3(0.0f, 1.0f, 0.0f), // +Z
XMFLOAT3(0.0f, 1.0f, 0.0f) // -Z
};
for(int i = 0; i < 6; ++i)
{
mCubeMapCamera[i].LookAt(center, targets[i], ups[i]);
mCubeMapCamera[i].SetLens(0.5f*XM_PI, 1.0f, 0.1f, 1000.0f);
mCubeMapCamera[i].UpdateViewMatrix();
}
}
int Storm3D_ParticleSystem::QuadArray::lock(VXFORMAT_PART *pointer, int particleOffset, Storm3D_Scene *scene)
{
m_partOffset = particleOffset;
pointer += particleOffset * 4;
VXFORMAT_PART *vp = pointer;
float frameWidth = 0.0f;
float frameHeight = 0.0f;
if(m_animInfo.numFrames > 1)
{
frameWidth = 1.0f / m_animInfo.textureUSubDivs;
frameHeight = 1.0f / m_animInfo.textureVSubDivs;
}
BYTE *verts = (BYTE*)&vp[0].position;
BYTE *uvs = (BYTE*)&vp[0].texcoords;
BYTE *colors = (BYTE*)&vp[0].color;
DWORD stride = sizeof(VXFORMAT_PART);
D3DXMATRIX mv = scene->camera.GetViewMatrix();
DWORD c0 = 0;
// Up rotation
MAT view(scene->camera.GetViewMatrix());
VC3 worldUp(0, 1.f, 0);
view.RotateVector(worldUp);
QUAT q;
rotateToward(worldUp, VC3(0, 0, 1.f), q);
MAT g;
g.CreateRotationMatrix(q);
for(int i = 0; i < m_numParts; i++)
{
Storm3D_PointParticle& p = m_parts[i];
float sa = sinf(p.angle);
float ca = cosf(p.angle);
float hsize = 0.5f*p.size;
float x1,y1,x2,y2,x3,y3,x4,y4;
quad_util::rotatePointFast(x1, y1, -hsize, hsize, ca, sa);
quad_util::rotatePointFast(x2, y2, hsize, hsize, ca, sa);
quad_util::rotatePointFast(x3, y3, -hsize, -hsize, ca, sa);
quad_util::rotatePointFast(x4, y4, hsize, -hsize, ca, sa);
VC3 v;
v.x = p.position.x * mv.m[0][0] +
p.position.y * mv.m[1][0] +
p.position.z * mv.m[2][0] + mv.m[3][0];
v.y = p.position.x * mv.m[0][1] +
p.position.y * mv.m[1][1] +
p.position.z * mv.m[2][1] + mv.m[3][1];
v.z = p.position.x * mv.m[0][2] +
p.position.y * mv.m[1][2] +
p.position.z * mv.m[2][2] + mv.m[3][2];
VC3 v1(x1, y1, 0);
VC3 v2(x2, y2, 0);
VC3 v3(x3, y3, 0);
VC3 v4(x4, y4, 0);
if(faceUp)
{
g.RotateVector(v1);
g.RotateVector(v2);
g.RotateVector(v3);
g.RotateVector(v4);
}
v1 += v;
v2 += v;
v3 += v;
v4 += v;
/*
VC3 v1(v.x + x1, v.y + y1, v.z);
VC3 v2(v.x + x2, v.y + y2, v.z);
VC3 v3(v.x + x3, v.y + y3, v.z);
VC3 v4(v.x + x4, v.y + y4, v.z);
{
v1 -= v;
g.RotateVector(v1);
v1 += v;
v2 -= v;
g.RotateVector(v2);
v2 += v;
v3 -= v;
g.RotateVector(v3);
v3 += v;
v4 -= v;
g.RotateVector(v4);
v4 += v;
}
*/
*((Vector*)verts) = v1; verts += stride;
*((Vector*)verts) = v2; verts += stride;
*((Vector*)verts) = v3; verts += stride;
*((Vector*)verts) = v4; verts += stride;
// Fill texturecoords
if(m_animInfo.numFrames > 1) {
int frame = (int)p.frame % m_animInfo.numFrames;
int col = frame % m_animInfo.textureUSubDivs;
int row = frame / m_animInfo.textureUSubDivs;
float tx = frameWidth * (float)col;
float ty = frameHeight * (float)row;
*((float*)uvs) = tx; uvs += 4; *((float*)uvs) = ty; uvs += (stride - 4);
*((float*)uvs) = tx + frameWidth; uvs += 4; *((float*)uvs) = ty; uvs += (stride - 4);
*((float*)uvs) = tx; uvs += 4; *((float*)uvs) = ty + frameHeight; uvs += (stride - 4);
*((float*)uvs) = tx + frameWidth; uvs += 4; *((float*)uvs) = ty + frameHeight; uvs += (stride - 4);
} else {
*((float*)uvs) = 0.0f; uvs += 4; *((float*)uvs) = 0.0f; uvs += (stride - 4);
*((float*)uvs) = 1.0f; uvs += 4; *((float*)uvs) = 0.0f; uvs += (stride - 4);
*((float*)uvs) = 0.0f; uvs += 4; *((float*)uvs) = 1.0f; uvs += (stride - 4);
*((float*)uvs) = 1.0f; uvs += 4; *((float*)uvs) = 1.0f; uvs += (stride - 4);
}
c0 = (((DWORD)(p.alpha * 255.0f) &0xff) << 24) |
(((DWORD)(factor.r * p.color.r * 255.0f) &0xff) << 16) |
(((DWORD)(factor.g * p.color.g * 255.0f) &0xff) << 8) |
(((DWORD)(factor.b * p.color.b * 255.0f) &0xff) );
*((DWORD*)colors) = c0; colors += stride;
*((DWORD*)colors) = c0; colors += stride;
*((DWORD*)colors) = c0; colors += stride;
*((DWORD*)colors) = c0; colors += stride;
}
return m_numParts;
}
void Vizzer::init(ApplicationData &app)
{
assets.init(app.graphics);
vec3f eye(0.5f, 0.2f, 0.5f);
vec3f worldUp(0.0f, 1.0f, 0.0f);
camera = Cameraf(-eye, eye, worldUp, 60.0f, (float)app.window.getWidth() / app.window.getHeight(), 0.01f, 10000.0f);
camera = Cameraf("-0.774448 1.24485 -1.35404 0.999848 1.80444e-009 -0.0174517 0.0152652 -0.484706 0.874544 -0.00845866 -0.874677 -0.484632 0 1 0 60 1.25 0.01 10000");
//-0.774448 1.24485 -1.35404 0.999848 1.80444e-009 -0.0174517 0.0152652 -0.484706 0.874544 -0.00845866 -0.874677 -0.484632 0 1 0 60 1.25 0.01 10000
font.init(app.graphics, "Calibri");
state.bundler.loadSensorFile(constants::dataDir + "/sensors/sample.sensor");
state.bundler.computeKeypoints();
state.bundler.addCorrespondences(1);
state.bundler.addCorrespondences(2);
state.bundler.addCorrespondences(4);
state.bundler.addCorrespondences(6);
state.bundler.addCorrespondences(12);
state.bundler.addCorrespondences(20);
state.bundler.addCorrespondences(30);
state.bundler.addCorrespondences(40);
state.bundler.addCorrespondences(60);
state.bundler.addCorrespondences(80);
state.bundler.addCorrespondences(100);
state.bundler.solve();
state.bundler.thresholdCorrespondences(0.01);
state.bundler.solve();
//state.bundler.thresholdCorrespondences(0.005);
//state.bundler.solve();
state.bundler.saveKeypointCloud(constants::debugDir + "result.ply");
state.bundler.saveResidualDistribution(constants::debugDir + "residuals.csv");
state.frameCloudsSmall.resize(state.bundler.frames.size());
state.frameCloudsBig.resize(state.bundler.frames.size());
for (auto &frame : iterate(state.bundler.frames))
{
vector<TriMeshf> meshesSmall, meshesBig;
auto makeColoredBox = [](const vec3f ¢er, const vec4f &color, float radius) {
TriMeshf result = ml::Shapesf::box(radius, radius, radius);
result.transform(mat4f::translation(center));
result.setColor(color);
return result;
};
const int stride = 5;
for (auto &p : frame.value.depthImage)
{
vec2i coord((int)p.x, (int)p.y);
const vec3f framePos = frame.value.localPos(coord);
if (!framePos.isValid() || p.x % stride != 0 || p.y % stride != 0)
continue;
meshesSmall.push_back(makeColoredBox(frame.value.frameToWorld * framePos, vec4f(frame.value.colorImage(coord)) / 255.0f, 0.002f));
meshesBig.push_back(makeColoredBox(frame.value.frameToWorld * framePos, vec4f(frame.value.colorImage(coord)) / 255.0f, 0.005f));
}
state.frameCloudsSmall[frame.index] = D3D11TriMesh(app.graphics, Shapesf::unifyMeshes(meshesSmall));
state.frameCloudsBig[frame.index] = D3D11TriMesh(app.graphics, Shapesf::unifyMeshes(meshesBig));
}
state.selectedCamera = 0;
}
