int APIENTRY WinMain(HINSTANCE hCurrentInst, HINSTANCE hPreviousInst,LPSTR lpszCmdLine, int nCmdShow) // int main(int argc, char *argv[])
{
std::cout << "Test Physics\n";
std::vector<RigidBody*> rigidbodies;
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(1)) }, { 1.5f, 0.0f, 1.5f }));
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(1)) }, { -1.5f, 0.0f, 1.5f }));
rigidbodies.back()->orientation = normalize(float4(0.1f, 0.01f, 0.3f, 1.0f));
auto seesaw = new RigidBody({ AsShape(WingMeshBox( { 3, 0.5f, 0.1f })) }, { 0, -2.5, 0.25f });
rigidbodies.push_back(seesaw);
rigidbodies.push_back( new RigidBody({ AsShape(WingMeshCube(0.25f)) }, seesaw->position_start + float3( 2.5f, 0, 0.4f)));
rigidbodies.push_back( new RigidBody({ AsShape(WingMeshCube(0.50f)) }, seesaw->position_start + float3(-2.5f, 0, 5.0f)));
rbscalemass(rigidbodies.back(), 4.0f);
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshBox({1,0.2f,0.2f})),AsShape(WingMeshBox({0.2f,1,0.2f})),AsShape(WingMeshBox({0.2f,0.2f,1})) }, { -1.5f, 0.5f, 7.5f }));
for (float z = 5.5f; z < 14.0f; z += 3.0f)
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(0.5f)) }, { 0.0f, 0.0f, z }));
for (float z = 15.0f; z < 20.0f; z += 3.0f)
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshDual(WingMeshCube(0.5f), 0.65f)) }, { 2.0f, -1.0f, z }));
WingMesh world_slab = WingMeshBox({ -10, -10, -5 }, { 10, 10, -2 }); // world_geometry
GLWin glwin("TestPhys sample");
glwin.ViewAngle = 60.0f;
glwin.keyboardfunc = [&](unsigned char key, int x, int y)->void
{
switch (std::tolower(key))
{
case ' ':
g_simulate = !g_simulate;
break;
case 'q': case 27: // ESC
exit(0); break;
case 'r':
for (auto &rb : rigidbodies)
{
rb->position = rb->position_start;
//rb->orientation = rb->orientation_start; // when commented out this provides some variation
rb->linear_momentum = float3(0, 0, 0);
rb->angular_momentum = float3(0, 0, 0);
}
seesaw->orientation = { 0, 0, 0, 1 };
break;
default:
std::cout << "unassigned key (" << (int)key << "): '" << key << "'\n";
break;
}
};
InitTex();
int2 mouseprev;
while (glwin.WindowUp())
{
if (glwin.MouseState) // on mouse drag
{
g_yaw += (glwin.MouseX - mouseprev.x) * 0.3f; // poor man's trackball
g_pitch += (glwin.MouseY - mouseprev.y) * 0.3f;
}
mouseprev = { glwin.MouseX, glwin.MouseY };
if (g_simulate)
{
std::vector<LimitAngular> angulars;
std::vector<LimitLinear> linears;
Append(linears , ConstrainPositionNailed(NULL, seesaw->position_start, seesaw, { 0, 0, 0 }));
Append(angulars, ConstrainAngularRange(NULL, seesaw, { 0, 0, 0, 1 }, { 0, -20, 0 }, { 0, 20, 0 }));
PhysicsUpdate(rigidbodies, linears, angulars, { &world_slab.verts });
}
glPushAttrib(GL_ALL_ATTRIB_BITS);
glViewport(0, 0, glwin.Width,glwin.Height); // Set up the viewport
glClearColor(0.1f, 0.1f, 0.15f, 1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
// Set up matrices
glMatrixMode(GL_PROJECTION); glPushMatrix(); glLoadIdentity();
gluPerspective(glwin.ViewAngle, (double)glwin.Width/ glwin.Height, 0.01, 50);
glMatrixMode(GL_MODELVIEW); glPushMatrix(); glLoadIdentity();
gluLookAt(0, -8, 5, 0, 0, 0, 0, 0, 1);
glRotatef(g_pitch, 1, 0, 0);
glRotatef(g_yaw, 0, 0, 1);
wmdraw(world_slab); // world_geometry
glEnable(GL_POLYGON_OFFSET_FILL);
glPolygonOffset(1., 1. / (float)0x10000);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_TEXTURE_2D);
glColor3f(0.5f, 0.5f, 0.5f);
for (auto &rb : rigidbodies)
rbdraw(rb);
glPopAttrib(); // Restore state
glMatrixMode(GL_PROJECTION); glPopMatrix();
glMatrixMode(GL_MODELVIEW); glPopMatrix();
glwin.PrintString("ESC/q quits. SPACE to simulate. r to restart", 5, 0);
char buf[256];
sprintf_s(buf, "simulation %s", (g_simulate)?"ON":"OFF");
glwin.PrintString(buf, 5, 1);
glwin.SwapBuffers();
}
std::cout << "\n";
return 0;
}
int APIENTRY WinMain(HINSTANCE hCurrentInst, HINSTANCE hPreviousInst,LPSTR lpszCmdLine, int nCmdShow) // int main(int argc, char *argv[])
{
std::cout << "Test tracking\n";
WingMesh box = WingMeshBox({ 0.5, 0.25f, 0.1f }); // our "real world" object used to generate computer vision or depth data input
Pose boxpose({ 0, 0, 2 }, normalize(float4( 0.2f, 0.3f, 0.4f, 1.0f )));
RigidBody trackmodel({ AsShape(box) }, { 0, -0.5, 2.25f }); // a tracking model based on the geometry of the real object we are tracking
std::vector<RigidBody*> rigidbodies = { &trackmodel };
WingMesh world_slab = WingMeshBox({ -2, -2, -0.75f }, { 2, 2, -0.5f }); // just some ground plane world_geometry
GLWin glwin("Tracking single object from depth samples.");
InitTex();
glwin.ViewAngle = 60.0f;
int2 mouseprev;
int animating = 1;
float view_dist = 7.0f, view_pitch=20.0f, view_yaw=0;
int frame = 0;
bool enable_tracking = 0;
int sample_resolution = 30;
float src_offset = -2.0f;
glwin.keyboardfunc = [&](unsigned char key, int x, int y)->void
{
switch (std::tolower(key))
{
case 't': case ' ': enable_tracking = !enable_tracking; break;
case 'a': case 's': animating = 1 - animating; break;
case '-': case '_': sample_resolution = std::max(sample_resolution - 1, 3); break;
case '+': case '=': sample_resolution++; break;
case 'q': case 27 : exit(0); break; // ESC
case 'x': case 'o': src_offset += 0.5f * ((key == 'X') ? -1.0f : 1.0f); break;
case 'r':
for (auto &rb : rigidbodies)
{
rb->position = rb->position_start;
rb->orientation = rb->orientation_start;
rb->linear_momentum = float3(0, 0, 0);
rb->angular_momentum = float3(0, 0, 0);
}
break;
default:
std::cout << "unassigned key (" << (int)key << "): '" << key << "'\n";
break;
}
};
while (glwin.WindowUp())
{
frame+=animating;
if (glwin.MouseState) // on mouse drag
{
view_yaw += (glwin.MouseX - mouseprev.x) * 0.3f; // poor man's trackball
view_pitch += (glwin.MouseY - mouseprev.y) * 0.3f;
}
mouseprev = { glwin.MouseX, glwin.MouseY };
view_dist *= powf(1.1f, (float)glwin.mousewheel);
boxpose.orientation = normalize(float4(sinf(frame*0.01f),sin(frame*0.035f),sin(frame*0.045f),1.0f)); // animate the source object
boxpose.position = float3(sinf(frame*0.01f)*0.75f, cosf(frame*0.01f)*0.75f, boxpose.position.z);
std::vector<float3> depthdata; // generated pointcloud
for (float y = -1.0f; y <= 1.0f; y += 2.0f/sample_resolution) for (float x = -1.0f; x <= 1.0f; x += 2.0f/sample_resolution)
{
if (auto hit = ConvexHitCheck(box.faces, boxpose, { 0, 0, 0 }, float3(x, y, 1.0f)*5.0f))
depthdata.push_back(hit.impact);
}
std::vector<std::pair<float3,float3>> match;
if (enable_tracking)
{
trackmodel.gravscale = 0;
trackmodel.damping = 1;
std::vector<float4> planesw;
for (auto p : box.faces) // should be getting from shape, but oh well
planesw.push_back(trackmodel.pose().TransformPlane(p));
std::vector<LimitAngular> angulars;
std::vector<LimitLinear> linears;
for (auto v : depthdata)
{
auto plane = planemostbelow(planesw, v);
HitInfo hit;
auto cp = v - plane.xyz()*dot(plane, float4(v, 1)); // cp is closest point on the plane
match.push_back(std::pair<float3, float3>(v, cp));
if (dot(v, plane.xyz()) > 0 && (hit = ConvexHitCheck(planesw, { 0, 0, 0 }, v))) // closest plane is a backface and point is directly behind object
linears.push_back(ConstrainAlongDirection(NULL, v, &trackmodel, trackmodel.pose().Inverse()*hit.impact, normalize(v), -50,50)); // push straight backwards
else
linears.push_back(ConstrainAlongDirection(NULL, v, &trackmodel, trackmodel.pose().Inverse()*cp, plane.xyz(), -50, 50));
}
PhysicsUpdate(rigidbodies, linears, angulars, {});
}
else
{
trackmodel.gravscale = 1;
trackmodel.damping = 0.1f;
PhysicsUpdate(rigidbodies, {}, std::vector<LimitAngular>(0), { &world_slab.verts });
}
glPushAttrib(GL_ALL_ATTRIB_BITS);
glViewport(0, 0, glwin.Width,glwin.Height); // Set up the viewport
glClearColor(0.1f, 0.1f, 0.15f, 1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
// Set up matrices
glMatrixMode(GL_PROJECTION); glPushMatrix(); glLoadIdentity();
gluPerspective(glwin.ViewAngle, (double)glwin.Width/ glwin.Height, 0.01, 50);
glMatrixMode(GL_MODELVIEW); glPushMatrix(); glLoadIdentity();
gluLookAt(0, -view_dist, 0, 0, 0, 0, 0, 0, 1);
glRotatef(view_pitch, 1, 0, 0);
glRotatef(view_yaw, 0, 0, 1);
glDisable(GL_TEXTURE_2D);
glColor3f(1.0f, 0.75f, 0.5f);
glPushMatrix();
glTranslatef(src_offset, 0, 0);
wmwire(box, boxpose);
glPopMatrix();
glColor3f(1.0f, 1.0f, 0.0f);
glPointSize(2.0f);
glBegin(GL_POINTS);
for (auto p : depthdata)
glVertex3fv(p);
glEnd();
glColor3f(0.7f, 0.0f, 0.0f);
glPointSize(1.0f);
glBegin(GL_LINES);
for (auto p : match)
glVertex3fv(p.first), glVertex3fv(p.second); // yeah, no braces {} but note the comma
glEnd();
glEnable(GL_POLYGON_OFFSET_FILL);
glPolygonOffset(1., 1. / (float)0x10000);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
wmdraw(world_slab); // world_geometry
glEnable(GL_TEXTURE_2D);
glColor3f(0.5f, 0.5f, 0.5f);
for (auto &rb : rigidbodies)
rbdraw(rb);
glPopAttrib(); // Restore state
glMatrixMode(GL_PROJECTION); glPopMatrix();
glMatrixMode(GL_MODELVIEW); glPopMatrix();
glwin.PrintString({ 0, 0 },"ESC/q quits. SPACE to toggle tracking.");
glwin.PrintString({ 0, 1 }, "(t)racking %s. (a)nimating %s. depthres %d", (enable_tracking) ? "ON" : "OFF", (animating) ? "ON" : "OFF", sample_resolution);
glwin.SwapBuffers();
}
std::cout << "\n";
return 0;
}
int main(int argc, char *argv[]) try
{
physics_driftmax = 0.0025f;
GLWin glwin("point cloud push interaction");
RSCam dcam;
dcam.Init((argc == 2) ? argv[1] : NULL);
Image<unsigned short> dimage(dcam.dcamera());
glwin.ViewAngle = dcam.fov().y;
float viewdist = 2.0f;
float yaw = 120;
int mousexold = 0;
Mesh mesh;
bool pause = false;
bool debuglines=false;
int center = 0;
bool chains = true;
bool usehull = false;
std::vector<RigidBody*> rigidbodies;
std::vector < std::pair<RigidBody*, RigidBody*>> links;
for (float x = -0.2f; x < 0.2f; x+= 0.07f)
for(float z: {0.350f})
for (float y = -0.2f; y <= 0.2f; y += 0.07f)
{
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshDual(WingMeshCube(0.025f),0.028f)) }, { x,y,z }));
//rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(0.025f) ) }, { x,y,z }));
links.push_back({(y > -0.2f)?rigidbodies[rigidbodies.size() - 2]:NULL , rigidbodies.back()});
}
//rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(0.05f)) }, { 0,0,0.50f }));
auto seesaw = new RigidBody({ AsShape(WingMeshBox({ 0.20f, 0.015f, 0.05f })) }, { 0,0,0.45f });
rigidbodies.push_back(seesaw);
glwin.keyboardfunc = [&](unsigned char key, int x, int y)->void
{
switch (std::tolower(key))
{
case 'q': case 27: exit(0); break; // 27 is ESC
case ' ': pause = !pause; break;
case 'c': chains = !chains; break;
case 'd': debuglines = !debuglines; break;
case 'h': usehull = !usehull; break;
case 'r': for (auto &rb : rigidbodies) { rb->angular_momentum = rb->linear_momentum = float3(0.0f);rb->pose() = { rb->position_start,rb->orientation_start }; } break;
default: std::cout << "unassigned key (" << (int)key << "): '" << key << "'\n"; break;
}
};
if (dcam.dev->supports_option(rs::option::r200_lr_auto_exposure_enabled))
dcam.dev->set_option(rs::option::r200_lr_auto_exposure_enabled, 1);
while (glwin.WindowUp())
{
if (glwin.MouseState)
{
yaw += glwin.mousepos.x - mousexold;
}
mousexold = glwin.mousepos.x;
viewdist *= powf(1.1f, (float)glwin.mousewheel);
if (!pause)
dimage = dcam.GetDepth();
glPushAttrib(GL_ALL_ATTRIB_BITS);
glViewport(0, 0, glwin.res.x, glwin.res.y);
glClearColor(0.1f, 0.1f, 0.15f, 1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluPerspective(glwin.ViewAngle, (double)glwin.aspect_ratio(), 0.01f, 50.0f);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
gluLookAt(0, 0, viewdist, 0, 0, 0, 0, -1, 0);
glEnable(GL_DEPTH_TEST);
glTranslatef(0, 0, 0.35f);
glRotatef(yaw, 0, 1, 0);
glTranslatef(0, 0, -0.35f);
std::vector<float3> pts;
std::vector<float3> outliers;
std::vector<float3> vpts;
glDisable(GL_BLEND);
float2 wrange = { 0.20f,0.60f };
auto dp_image_c = Transform(dimage, [](unsigned short s) {return byte3((unsigned char)clamp(255 - s / 4, 0, 255)); });
drawimage(dp_image_c, { 0.78f,0.22f }, { 0.2f,-0.2f }, 3);
float depth_scale = (dcam.dev) ? dcam.dev->get_depth_scale() : 0.001f; // to put into meters // if file assume file is mm
for (auto p : rect_iteration(dimage.dim())) // p is int2 from 0,0 to w,h of dcam
{
float d = dimage.pixel(p) * depth_scale; // d is in meters, whereas depth[i] is in camera units mm for R200, .125mm for SR300 ivycam
if (p.x<5 || p.x> dimage.dim().x - 5 || p.y<5 || p.y>dimage.dim().y - 5) continue; // crop, seems to be lots of noise at the edges
if (d > 1.0f) // just too far
continue;
float3 v = dimage.cam.deprojectz(asfloat2(p), d);
if (d>wrange.x && d < wrange.y)
pts.push_back(v);
else
outliers.push_back(v);
}
vpts = ObtainVoxelPointCloud(pts, 0.0082f, 8);
std::vector<std::pair<float3, float3>> lines;
std::vector<std::pair<float3, float3>> glines;
if (1)// && pts.size())
{
std::vector<LimitLinear> linears;
std::vector<LimitAngular> angulars;
physics_gravity = { 0, (float) chains,0 }; // ugg y is down
if(!usehull) for(auto rb:rigidbodies)
{
if (!rb->shapes[0].planes.size())
rb->shapes[0].planes = Planes(rb->shapes[0].verts, rb->shapes[0].tris);
auto planes = Transform(rb->shapes[0].planes, [&](float4 p) { return rb->pose().TransformPlane(p);});
rb->gravscale = (float)chains;
float separation = FLT_MAX;
float3 pushpoint = float3(0, 0, 0); //
float4 pushplane;
for (auto p : vpts)
{
auto plane = mostabove(planes, p);
float sep;
if ((sep = dot(plane, float4(p, 1))) < separation)
{
pushpoint = p;
pushplane = plane;
separation = sep;
}
}
if (separation > 0.1f)
continue;
float3 closestpoint = ProjectOntoPlane(pushplane, pushpoint);
pushplane = float4({ -pushplane.xyz(), -dot(-pushplane.xyz(),pushpoint) });
linears.push_back(ConstrainAlongDirection(NULL, pushpoint, rb, rb->pose().inverse()*closestpoint, pushplane.xyz(), 0, 100.0f)); // FLT_MAX));
lines.push_back({ closestpoint,pushpoint });
auto cp=Separated(rb->shapes[0].verts, rb->position, rb->orientation, { pushpoint }, { 0,0,0 }, { 0,0,0,1 }, 1);
glines.push_back({ cp.p0w, cp.p1w });
}
Append(linears, ConstrainPositionNailed(NULL, seesaw->position_start, seesaw, { 0, 0, 0 }));
Append(angulars, ConstrainAngularRange(NULL, seesaw, { 0, 0, 0, 1 }, { 0, 0,-20 }, { 0, 0,20 }));
if (chains) for (auto link : links)
Append(linears, ConstrainPositionNailed(link.first,link.first? float3(0, 0.035f, 0) : link.second->position_start-float3(0, -0.035f, 0) , link.second, { 0,-0.035f,0 }));
if(!pause)
if(usehull && vpts.size()>5)
PhysicsUpdate(rigidbodies, linears, angulars, { &vpts });
else
PhysicsUpdate(rigidbodies, linears, angulars, std::vector<std::vector<float3>*>());
}
glColor3f(1, 1, 1);
glwirefrustumz(dcam.deprojectextents(), { 0.1f,1.0f }); // draw the camera frustum volume
glPushAttrib(GL_ALL_ATTRIB_BITS);
glPointSize(1);
glBegin(GL_POINTS);
glColor3f(0, 1, 0.5f);
for (auto p : pts)
glVertex3fv(p);
glColor3f(1, 0.15f, 0.15f);
for (auto p : outliers)
glVertex3fv(p);
glEnd();
glPointSize(3);
glBegin(GL_POINTS);
glColor3f(1, 1, 1);
for (auto p : vpts) // was: spts
glVertex3fv(p);
glEnd();
glPopAttrib();
if (debuglines)
{
glBegin(GL_LINES);
glColor3f(0, 1, 1);
if (0)for (auto line : lines)
glVertex3fv(line.first), glVertex3fv(line.second);
glColor3f(1, 1, 0);
for (auto line : glines)
glVertex3fv(line.first), glVertex3fv(line.second);
glEnd();
}
if (usehull && vpts.size() > 5)
{
auto tris = calchull(vpts, 0);
glBegin(GL_LINES);
glColor3f(1, 1, 1);
for (auto t : tris) for( int i : {0,1,1,2,2,0})
glVertex3fv(vpts[t[i]]);
glEnd();
}
if (chains)
{
glBegin(GL_LINES);
glColor3f(1, 0, 1);
for (auto link : links)
{
if(link.first)
glVertex3fv(link.first->pose()* float3(0, 0, 0)), glVertex3fv(link.first->pose()* float3(0, 0.035f, 0));
glVertex3fv(link.second->pose()* float3(0, 0, 0)) , glVertex3fv(link.second->pose()* float3(0, -0.035f, 0));
}
glEnd();
}
glPushAttrib(GL_ALL_ATTRIB_BITS);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_TEXTURE_2D);
glColor3f(0.5f, 0.5f, 0.5f);
for (auto &rb : rigidbodies)
rbdraw(rb);
glPopAttrib(); // Restore state
// Restore state
glPopMatrix(); //should be currently in modelview mode
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glPopAttrib();
glMatrixMode(GL_MODELVIEW);
glwin.PrintString({ 0,0 }, "esc to quit.");
glwin.PrintString({ 0,1 }, "[h] collision %s ",(usehull)?"hull":"points");
glwin.SwapBuffers();
}
return 0;
}
catch (const char *c)
{
MessageBox(GetActiveWindow(), c, "FAIL", 0);
}
catch (std::exception e)
{
MessageBox(GetActiveWindow(), e.what(), "FAIL", 0);
}
