void FlyingModeManipulator::dragMiddle(
const Vector2i& to,
const Vector2i& from )
{
Viewport& viewport = _window.getViewPort();
const float x = ( to.x() - from.x( )) * _window.getMotionSpeed();
const float y = ( to.y() - from.y( )) * _window.getMotionSpeed();
viewport.translate( Vector3f( x, y , 0.f ), true );
}
void FlyingModeManipulator::dragLeft(
const Vector2i& to,
const Vector2i& from )
{
const float du = ( to.x() - from.x( )) * _window.getRotateSpeed();
const float dv = ( to.y() - from.y( )) * _window.getRotateSpeed();
Viewport& viewport = _window.getViewPort();
viewport.rotate( viewport.getPosition(), du, dv, true );
}
void FlyingModeManipulator::dragRight(
const Vector2i& to,
const Vector2i& from )
{
const float fwd = -( to.y() - from.y( )) * _window.getMotionSpeed();
Viewport& viewport = _window.getViewPort();
const Vector3f dir( 0.f, 0.f , 1.f );
viewport.translate( dir*fwd, false );
}
bool Font::FontTexture::findEmpty(const Vector2i& size, Vector2i& cursor_out)
{
if(size.x() >= textureSize.x() || size.y() >= textureSize.y())
return false;
if(writePos.x() + size.x() >= textureSize.x() &&
writePos.y() + rowHeight + size.y() + 1 < textureSize.y())
{
// row full, but it should fit on the next row
// move cursor to next row
writePos = Vector2i(0, writePos.y() + rowHeight + 1); // leave 1px of space between glyphs
rowHeight = 0;
}
if(writePos.x() + size.x() >= textureSize.x() ||
writePos.y() + size.y() >= textureSize.y())
{
// nope, still won't fit
return false;
}
cursor_out = writePos;
writePos[0] += size.x() + 1; // leave 1px of space between glyphs
if(size.y() > rowHeight)
rowHeight = size.y();
return true;
}
void KisColorSelectorRing::paintCache()
{
QImage cache(m_cachedSize, m_cachedSize, QImage::Format_ARGB32_Premultiplied);
Vector2i center(cache.width()/2., cache.height()/2.);
for(int x=0; x<cache.width(); x++) {
for(int y=0; y<cache.height(); y++) {
Vector2i currentPoint((float)x, (float)y);
Vector2i relativeVector = currentPoint-center;
qreal currentRadius = relativeVector.squaredNorm();
currentRadius=sqrt(currentRadius);
if(currentRadius < outerRadius()+1
&& currentRadius > innerRadius()-1)
{
float angle = std::atan2((float)relativeVector.y(), (float)relativeVector.x())+((float)M_PI);
angle/=2*((float)M_PI);
angle*=359.f;
if(currentRadius < outerRadius()
&& currentRadius > innerRadius()) {
cache.setPixel(x, y, m_cachedColors.at(angle));
}
else {
// draw antialiased border
qreal coef=1.;
if(currentRadius > outerRadius()) {
// outer border
coef-=currentRadius;
coef+=outerRadius();
}
else {
// inner border
coef+=currentRadius;
coef-=innerRadius();
}
coef=qBound(qreal(0.), coef, qreal(1.));
int red=qRed(m_cachedColors.at(angle));
int green=qGreen(m_cachedColors.at(angle));
int blue=qBlue(m_cachedColors.at(angle));
// the format is premultiplied, so we have to take care of that
QRgb color = qRgba(red*coef, green*coef, blue*coef, 255*coef);
cache.setPixel(x, y, color);
}
}
else {
cache.setPixel(x, y, qRgba(0,0,0,0));
}
}
}
m_pixelCache = cache;
}
Vector2i Window::preferredSize(NVGcontext *ctx) const {
Vector2i result = Widget::preferredSize(ctx);
nvgFontSize(ctx, 18.0f);
nvgFontFace(ctx, "sans-bold");
float bounds[4];
nvgTextBounds(ctx, 0, 0, mTitle.c_str(), nullptr, bounds);
return result.cwiseMax(Vector2i(
bounds[2]-bounds[0] + 20, bounds[3]-bounds[1]
));
}
void AbstractTexture::storageImplementationDefault(GLenum target, GLsizei levels, AbstractTexture::InternalFormat internalFormat, const Vector2i& size) {
bindInternal();
/** @todo Re-enable when extension wrangler is available for ES2 */
#ifndef MAGNUM_TARGET_GLES2
glTexStorage2D(target, levels, GLenum(internalFormat), size.x(), size.y());
#else
//glTexStorage2DEXT(target, levels, GLenum(internalFormat), size.x(), size.y());
static_cast<void>(target);
static_cast<void>(levels);
static_cast<void>(internalFormat);
static_cast<void>(size);
#endif
}
void GridManager::LinkToMyself(Vector2i p, sep::Axis mirror_axis) {
Cell* cell = grid_->GetInitCell(p)->m_pCell;
int coord = mirror_axis == sep::X ? p.x() : p.y();
if (coord < 2) {
if (cell->m_pPrev[mirror_axis] != nullptr)
throw("Next is already not emty");
cell->m_pPrev[mirror_axis] = cell; // cell->m_vNext[mirror_axis][0]
} else {
if (cell->m_pNext[mirror_axis] != nullptr)
throw("Next is already not emty");
cell->m_pNext[mirror_axis] = cell; // cell->m_vPrev[mirror_axis][0]
}
}
template<UnsignedInt dimensions, class T> typename DimensionTraits<dimensions, T>::MatrixType aspectRatioFix(AspectRatioPolicy aspectRatioPolicy, const Math::Vector2<T>& projectionScale, const Vector2i& viewport) {
/* Don't divide by zero / don't preserve anything */
if(projectionScale.x() == 0 || projectionScale.y() == 0 || viewport.x() == 0 || viewport.y() == 0 || aspectRatioPolicy == AspectRatioPolicy::NotPreserved)
return {};
Math::Vector2<T> relativeAspectRatio = Math::Vector2<T>(viewport)*projectionScale;
/* Extend on larger side = scale larger side down
Clip on smaller side = scale smaller side up */
return Camera<dimensions, T>::aspectRatioScale(
(relativeAspectRatio.x() > relativeAspectRatio.y()) == (aspectRatioPolicy == AspectRatioPolicy::Extend) ?
Vector2(relativeAspectRatio.y()/relativeAspectRatio.x(), T(1.0)) :
Vector2(T(1.0), relativeAspectRatio.x()/relativeAspectRatio.y()));
}
template<UnsignedInt dimensions, class T> MatrixTypeFor<dimensions, T> aspectRatioFix(AspectRatioPolicy aspectRatioPolicy, const Math::Vector2<T>& projectionScale, const Vector2i& viewport) {
/* Don't divide by zero / don't preserve anything */
if(projectionScale.x() == 0 || projectionScale.y() == 0 || viewport.x() == 0 || viewport.y() == 0 || aspectRatioPolicy == AspectRatioPolicy::NotPreserved)
return {};
CORRADE_INTERNAL_ASSERT((projectionScale > Math::Vector2<T>(0)).all() && (viewport > Vector2i(0)).all());
Math::Vector2<T> relativeAspectRatio = Math::Vector2<T>(viewport)*projectionScale;
/* Extend on larger side = scale larger side down
Clip on smaller side = scale smaller side up */
return MatrixTypeFor<dimensions, T>::scaling(Math::Vector<dimensions, T>::pad(
(relativeAspectRatio.x() > relativeAspectRatio.y()) == (aspectRatioPolicy == AspectRatioPolicy::Extend) ?
Math::Vector2<T>(relativeAspectRatio.y()/relativeAspectRatio.x(), T(1)) :
Math::Vector2<T>(T(1), relativeAspectRatio.x()/relativeAspectRatio.y()), T(1)));
}
Vector2i CubeMapTexture::getImageSizeImplementationDefault(const Int level) {
Vector2i size;
bindInternal();
glGetTexLevelParameteriv(GL_TEXTURE_CUBE_MAP_POSITIVE_X, level, GL_TEXTURE_WIDTH, &size.x());
glGetTexLevelParameteriv(GL_TEXTURE_CUBE_MAP_POSITIVE_X, level, GL_TEXTURE_HEIGHT, &size.y());
return size;
}
Vector2i CubeMapTexture::getImageSizeImplementationDSAEXT(const Int level) {
_created = true;
Vector2i size;
glGetTextureLevelParameterivEXT(_id, GL_TEXTURE_CUBE_MAP_POSITIVE_X, level, GL_TEXTURE_WIDTH, &size.x());
glGetTextureLevelParameterivEXT(_id, GL_TEXTURE_CUBE_MAP_POSITIVE_X, level, GL_TEXTURE_HEIGHT, &size.y());
return size;
}
void Application::toggleFullScreen ()
{
if (fullscreen)
{
#ifdef _WIN32
SetWindowLongPtr(hWnd, GWL_STYLE, WS_OVERLAPPEDWINDOW | WS_VISIBLE);
SetWindowPos(hWnd, NULL, 0, 0, 0, 0, SWP_NOSIZE | SWP_NOZORDER | SWP_NOMOVE | SWP_FRAMECHANGED | SWP_SHOWWINDOW);
// ShowWindow(hWnd, SW_SHOWNORMAL);
#endif
}
else
{
#ifdef _WIN32
SetWindowLongPtr(hWnd, GWL_STYLE, WS_POPUP | WS_VISIBLE);
SetWindowPos(hWnd, NULL, 0, 0, 0, 0, SWP_NOSIZE | SWP_NOZORDER | SWP_NOMOVE | SWP_FRAMECHANGED | SWP_SHOWWINDOW);
// ShowWindow(hWnd, SW_SHOWMAXIMIZED);
#endif
}
fullscreen = !fullscreen;
// Set the size.
#ifdef _WIN32
RECT rect;
GetClientRect(hWnd, &rect);
size.set(rect.right, rect.bottom); // left and top are always 0.
#endif
screenToNDC = Transform::screenToNDC<float>(size);
if (widget != 0)
{
widget->setBounds(Box2i::minSize(Vector2i::zero(), size));
}
}
LRESULT WINAPI wndProc (HWND hWnd, UINT msg, WPARAM wParam, LPARAM lParam)
{
switch (msg)
{
case WM_CREATE:
::hWnd = hWnd;
break;
case WM_CLOSE:
onClose();
break;
case WM_SIZE:
{
int newWidth = LOWORD(lParam);
int newHeight = HIWORD(lParam);
size.set(newWidth, newHeight);
screenToNDC = Transform::screenToNDC<float>(size);
if (widget != 0)
{
widget->setBounds(Box2i::minSize(Vector2i::zero(), size));
}
}
break;
case WM_SYSKEYDOWN:
case WM_KEYDOWN:
if (wParam == VK_RETURN && (lParam & 0xffff) == 1 && GetKeyState(VK_MENU) < 0) // alt-enter
{
Application::toggleFullScreen();
}
break;
default:
return DefWindowProc(hWnd, msg, wParam, lParam);
}
return 0;
}
void GridManager::GridGeometryToInitialCells() {
if (!boxes_stack_.size())
throw("no grid boxes");
// determine grid size
Vector2i vMin(boxes_stack_[0]->p), vMax;
std::for_each(boxes_stack_.begin(), boxes_stack_.end(), [&](GridBox* box) {
if (box->p.x() < vMin.x())
vMin.x() = box->p.x();
if (box->p.y() < vMin.y())
vMin.y() = box->p.y();
if (box->p.x() + box->size.x() > vMax.x())
vMax.x() = box->p.x() + box->size.x();
if (box->p.y() + box->size.y() > vMax.y())
vMax.y() = box->p.y() + box->size.y();
});
Vector2i size = vMax - vMin + Vector2i(2, 2); // size += 2 for fake cells
Config::vGridSize = Vector3i(size.x(), size.y(), 1);
vMin -= Vector2i(1, 1); // min_p -= 1 for fake cells
grid_->AllocateInitData();
std::for_each(boxes_stack_.begin(), boxes_stack_.end(), [&](GridBox* box) {
for (int x = 0; x < box->size.x(); x++) {
for (int y = 0; y < box->size.y(); y++) {
Vector2i tmp_pos = box->p + Vector2i(x, y) - vMin;
InitCellData* init_cell = grid_->GetInitCell(tmp_pos);
init_cell->m_eType = sep::NORMAL_CELL;
}
}
for (int x = -1; x < box->size.x() + 1; x++) {
for (int y = -1; y < box->size.y() + 1; y++) {
Vector2i tmp_pos = box->p + Vector2i(x, y) - vMin;
InitCellData* init_cell = grid_->GetInitCell(tmp_pos);
GasesConfigsMap& init_conds = init_cell->m_mInitConds;
for (int gas = 0; gas < Config::iGasesNumber; gas++) {
init_conds[gas] = box->def_config;
}
Vector2i size_with_fakes(box->size);
size_with_fakes += Vector2i(2, 2);
box->config(x + 1, y + 1, init_conds, size_with_fakes, box->p);
}
}
});
}
Eigen::Vector3f unproject(const Eigen::Vector3f &win,
const Eigen::Matrix4f &model,
const Eigen::Matrix4f &proj,
const Vector2i &viewportSize) {
Eigen::Matrix4f Inverse = (proj * model).inverse();
Eigen::Vector4f tmp;
tmp << win, 1;
tmp(0) = tmp(0) / viewportSize.x();
tmp(1) = tmp(1) / viewportSize.y();
tmp = tmp.array() * 2.0f - 1.0f;
Eigen::Vector4f obj = Inverse * tmp;
obj /= obj(3);
return obj.head(3);
}
Matrix3f NNUtilities::calcInverseTransformation(const Vector2i& center, const Vector2i& inSize, const Vector2i& outSize, const Angle rotation)
{
const Vector2i upperLeft = (center.array() - inSize.array() / 2).matrix();
const Vector2f transformationFactor = (inSize.cast<float>().array() / outSize.cast<float>().array()).matrix();
//float sin = std::sin(rotation);
//float cos = std::cos(rotation);
Matrix3f inverseTransformation; //TODO check rotation
inverseTransformation(0, 0) = transformationFactor.x();// *cos;
inverseTransformation(0, 1) = 0;// transformationFactor.x() * (-sin);
inverseTransformation(1, 0) = 0;// transformationFactor.y() * sin;
inverseTransformation(1, 1) = transformationFactor.y();// *cos;
inverseTransformation(0, 2) = upperLeft.x();// +outSize.x() * (1 - cos + sin) / 2 * transformationFactor.x();
inverseTransformation(1, 2) = upperLeft.y();// +outSize.y() * (1 - sin - cos) / 2 * transformationFactor.y();
return inverseTransformation;
}
void CompoundUpdateOutputVisitor::_generateTiles(TileQueue* queue,
Compound* compound)
{
const Vector2i& tileSize = queue->getTileSize();
const PixelViewport& pvp = compound->getInheritPixelViewport();
if (!pvp.hasArea())
return;
const Vector2i dim(pvp.w / tileSize.x() + ((pvp.w % tileSize.x()) ? 1 : 0),
pvp.h / tileSize.y() + ((pvp.h % tileSize.y()) ? 1 : 0));
std::vector<Vector2i> tiles;
tiles.reserve(dim.x() * dim.y());
tiles::generateZigzag(tiles, dim);
_addTilesToQueue(queue, compound, tiles);
}
bool Slider::mouseDragEvent(const Vector2i &p, const Vector2i & /* rel */,
int /* button */, int /* modifiers */) {
if (!mEnabled)
return false;
mValue = std::min(std::max((p.x() - mPos.x()) / (float) mSize.x(), (float) 0.0f), (float) 1.0f);
if (mCallback)
mCallback(mValue);
return true;
}
Layout LayoutStack::PutSpace(Vector2i size)
{
auto& b = stack.back();
Layout l = b.getNext(b.grow);
if (l.fill == Dir::Down || l.fill == Dir::Up)
{
l.across = size.x();
l.maxFill = size.y();
}
else
{
l.across = size.y();
l.maxFill = size.x();
}
b.putNext(l);
return l;
}
Eigen::Vector3f project(const Eigen::Vector3f &obj,
const Eigen::Matrix4f &model,
const Eigen::Matrix4f &proj,
const Vector2i &viewportSize) {
Eigen::Vector4f tmp;
tmp << obj, 1;
tmp = model * tmp;
tmp = proj * tmp;
tmp = tmp.array() / tmp(3);
tmp = tmp.array() * 0.5f + 0.5f;
tmp(0) = tmp(0) * viewportSize.x();
tmp(1) = tmp(1) * viewportSize.y();
return tmp.head(3);
}
bool Window::mouseButtonEvent(const Vector2i &p, int button, bool down, int modifiers) {
if (Widget::mouseButtonEvent(p, button, down, modifiers))
return true;
if (button == GLFW_MOUSE_BUTTON_1) {
mDrag = down && (p.y() - mPos.y()) < mTheme->mWindowHeaderHeight;
return true;
}
return false;
}
bool ShaderProgram::setUniformValue(const std::string& name, const Vector2i& v)
{
GLint location = static_cast<GLint>(findUniform(name));
if (location == -1) {
m_error = "Could not set uniform " + name + ". No such uniform.";
return false;
}
glUniform2iv(location, 1, v.data());
return true;
}
void AutomaticCameraCalibratorHandlerInsertion::deliverPoint(const Vector2i& point, bool upper, bool deletionRequired)
{
if(!deletionRequired)
{
std::stringstream line1;
line1 << "set module:AutomaticCameraCalibrator:insertionCurrentCamera " << (upper ? "upper;" : "lower;");
robotConsole->handleConsole(line1.str());
std::stringstream line2;
line2 << "set module:AutomaticCameraCalibrator:insertionPoint x = ";
line2 << point.x();
line2 << "; y = ";
line2 << point.y();
line2 << ";";
robotConsole->handleConsole(line2.str());
std::stringstream line3;
line3 << "dr module:AutomaticCameraCalibrator:insertPoint";
robotConsole->handleConsole(line3.str());
}
}
bool Slider::mouseButtonEvent(const Vector2i &p, int /* button */, bool down, int /* modifiers */) {
if (!mEnabled)
return false;
mValue = std::min(std::max((p.x() - mPos.x()) / (float) mSize.x(), (float) 0.0f), (float) 1.0f);
if (mCallback)
mCallback(mValue);
if (mFinalCallback && !down)
mFinalCallback(mValue);
return true;
}
void NNUtilities::getInterpolatedImageSection(const Vector2i& center, const Vector2i& inSize, const Vector2i& outSize, const GrayscaledImage& src, OutType* output, const Angle rotation)
{
Matrix3f inverseTransformation = calcInverseTransformation(center,inSize,outSize, rotation);
if (std::is_same<OutType, float>::value)
ImageTransform::transform(src, (float*)output, outSize.x(), outSize.y(), inverseTransformation, Vector2f(0.f, 0.f), 128.f);
else {
MatrixXf dest(outSize.x(), outSize.y());
ImageTransform::transform(src, dest.data(), outSize.x(), outSize.y(), inverseTransformation, Vector2f(0.f, 0.f), 128.f);
Eigen::Matrix<OutType, Eigen::Dynamic, Eigen::Dynamic> dest_ = dest.cast<OutType>();
memcpy(output, dest_.data(), outSize.x()* outSize.y() * sizeof(OutType));
}
}
void MotionBlurCamera::setViewport(const Vector2i& size) {
SceneGraph::Camera3D::setViewport(size);
/* Initialize previous frames with black color */
std::size_t textureSize = size.product()*framebuffer.pixelSize();
Containers::Array<UnsignedByte> texture{Containers::ValueInit, textureSize};
framebuffer.setData(PixelFormat::RGB8Unorm, size, texture, GL::BufferUsage::DynamicDraw);
for(Int i = 0; i != FrameCount; ++i)
frames[i]->setImage(0, GL::TextureFormat::RGB8, framebuffer);
}
bool VScrollPanel::mouseDragEvent (const Vector2i &, const Vector2i & rel,
int, int)
{
if (mChildren.empty())
return false;
float scrollh = height() *
std::min (1.0f, height() / (float)mChildPreferredHeight);
mScroll = std::max ((float) 0.0f, std::min ((float) 1.0f,
mScroll + rel.y() / (float) (mSize.y() - 8 - scrollh)));
return true;
}
void AutomaticCameraCalibrator::insertSample(Vector2i point, CameraInfo::Camera camera)
{
if(insertionOnCamera != theCameraInfo.camera)
return;
Sample sample;
if(!Transformation::imageToRobot(point.x(), point.y(), theCameraMatrix, theCameraInfo, sample.pointOnField))
{
OUTPUT_TEXT("MEEEK! Point not on field!" << (theCameraInfo.camera == CameraInfo::upper ? " Upper " : " Lower "));
return;
}
sample.pointInImage = point;
sample.torsoMatrix = theTorsoMatrix;
sample.headYaw = theJointAngles.angles[Joints::headYaw];
sample.headPitch = theJointAngles.angles[Joints::headPitch];
sample.cameraInfo = theCameraInfo;
samples.push_back(sample);
lastInsertedSample = sample;
lastActionWasInsertion = true;
alreadyRevertedInsertion = false;
insertionValueExistant = false;
}
Layout Layout::Top(AlignedBox2i box, Dir dir)
{
Vector2i size = box.sizes();
switch (dir)
{
case Dir::Right:
return{ dir, Dir::Up, 0, size.x(), size.y(), box.corner(AlignedBox2i::BottomLeft) };
case Dir::Left:
return{ dir, Dir::Up, 0, size.x(), size.y(), box.corner(AlignedBox2i::BottomRight) };
case Dir::Down:
return{ dir, Dir::Right, 0, size.y(), size.x(), box.corner(AlignedBox2i::TopLeft) };
case Dir::Up:
return{ dir, Dir::Right, 0, size.y(), size.x(), box.corner(AlignedBox2i::BottomLeft) };
default: assert(false && "Layout broken");
return{};
}
}
