Wall::Wall(vector3 pos, vector3 dir, vector3 vertex1, vector3 vertex2, vector3 vertex3, vector3 vertex4, string texture_path):
LevelDelimiter(pos,dir.normalize(),vector3(0.0,1.0,0.0),vertex1,vertex2,vertex3,vertex4,texture_path)
{
const_term = dir[0]*vertices[0]+dir[1]*vertices[1]+dir[2]*vertices[2];
square_root = sqrt(dir[0]*dir[0]+dir[1]*dir[1]+dir[2]*dir[2]);
build_bounding_box();
GLfloat orizzontal = ((int)length)/2;
GLfloat vertical = ((int)height)/5;
GLfloat texc[8] = { 0.0,0.0,
orizzontal,0.0,
orizzontal,vertical,
0.0,vertical};
memcpy(texcoords, texc, sizeof(GLfloat)*8);
}
kpoBaseApp::kpoBaseApp (pcl::OpenNIGrabber& grabber)
: grabber_(grabber)
, mtx_ ()
, thread_pool(8)
, osc_sender (new kpoOscSender())
, boundingbox_ptr (new Cloud)
, bb_hull_cloud_ (new Cloud)
{
// Start the OpenNI data acquision
boost::function<void (const CloudConstPtr&)> f = boost::bind (&kpoBaseApp::cloud_callback, this, _1);
boost::signals2::connection c = grabber_.registerCallback (f);
boost::function<void (const boost::shared_ptr<openni_wrapper::Image>&)> ic = boost::bind (&kpoBaseApp::image_callback, this, _1);
boost::signals2::connection d = grabber_.registerCallback (ic);
boost::function<void (const boost::shared_ptr<openni_wrapper::DepthImage>&)> dc = boost::bind (&kpoBaseApp::depth_callback, this, _1);
boost::signals2::connection e = grabber_.registerCallback (dc);
// Set defaults
depth_filter_.setFilterFieldName ("z");
depth_filter_.setFilterLimits (0.5, 5.0);
depth_image_threshold_ = 128;
grabber_downsampling_radius_ = .005f;
build_bounding_box();
QDir dir;
m_sSettingsFile = dir.absolutePath() + "/settings.ini";
model_index = 0;
std::cout << m_sSettingsFile.toStdString() << endl;
loadSettings();
thread_load = 12;
analyze_thread_count = 0;
last_cloud_size = 0;
last_snapshot_time = QDateTime::currentMSecsSinceEpoch();
need_image_cap = false;
grabber_.start ();
}
void a2estatic::set_hard_position(const float x, const float y, const float z) {
for(unsigned int i = 0; i < vertex_count; i++) {
vertices[i].x += x;
vertices[i].y += y;
vertices[i].z += z;
}
// reupload vertices stuff to vbo
glBindBuffer(GL_ARRAY_BUFFER, vbo_vertices_id);
glBufferSubData(GL_ARRAY_BUFFER, 0, vertex_count * 3 * sizeof(float), vertices);
glBindBuffer(GL_ARRAY_BUFFER, 0);
if(collision_model) {
for(unsigned int i = 0; i < col_vertex_count; i++) {
col_vertices[i].x += x;
col_vertices[i].y += y;
col_vertices[i].z += z;
}
}
// rebuild the bounding box
build_bounding_box();
}
void a2estatic::load_from_memory(unsigned int object_count_, unsigned int vertex_count_,
float3* vertices_, float2* tex_coords_,
unsigned int* index_count_, uint3** indices_) {
filename = "<memory>";
a2estatic::vertex_count = vertex_count_;
a2estatic::vertices = vertices_;
a2estatic::tex_coord_count = vertex_count_;
a2estatic::tex_coords = tex_coords_;
a2estatic::index_count = index_count_;
a2estatic::indices = indices_;
a2estatic::tex_indices = indices_;
normals = new float3[vertex_count];
binormals = new float3[vertex_count];
tangents = new float3[vertex_count];
a2estatic::object_count = object_count_;
min_index = new unsigned int[object_count];
max_index = new unsigned int[object_count];
memset(min_index, 0xFF, sizeof(unsigned int)*object_count);
memset(max_index, 0, sizeof(unsigned int)*object_count);
for(unsigned int i = 0; i < object_count; i++) {
if(index_count[i] == 0) {
min_index[i] = 0;
max_index[i] = 0;
}
for(unsigned int j = 0; j < index_count[i]; j++) {
// also get the max/highest and min/lowest index number
if(tex_indices[i][j].x > max_index[i]) max_index[i] = tex_indices[i][j].x;
if(tex_indices[i][j].y > max_index[i]) max_index[i] = tex_indices[i][j].y;
if(tex_indices[i][j].z > max_index[i]) max_index[i] = tex_indices[i][j].z;
if(tex_indices[i][j].x < min_index[i]) min_index[i] = tex_indices[i][j].x;
if(tex_indices[i][j].y < min_index[i]) min_index[i] = tex_indices[i][j].y;
if(tex_indices[i][j].z < min_index[i]) min_index[i] = tex_indices[i][j].z;
}
}
delete_sub_bboxes();
sub_bboxes.resize(object_count);
object_names.clear();
object_names.resize(object_count);
for(unsigned int i = 0; i < object_count; i++) {
object_names[i] = "object #" + to_string(i);
}
// set this stuff for normal generating
model_indices = indices;
model_index_count = index_count;
generate_normals();
// set the actual model data after everything is computed correctly and its final state
model_indices = indices;
model_index_count = index_count;
model_vertices = new float3*[object_count];
model_vertex_count = new unsigned int[object_count];
for(unsigned int i = 0; i < object_count; i++) {
model_vertices[i] = &vertices[min_index[i]];
model_vertex_count[i] = (min_index[i] != 0xFFFFFFFF ? max_index[i] - min_index[i] + 1 : 0);
}
build_bounding_box();
// vertices vbo
glGenBuffers(1, &vbo_vertices_id);
glBindBuffer(GL_ARRAY_BUFFER, vbo_vertices_id);
glBufferData(GL_ARRAY_BUFFER, vertex_count * 3 * sizeof(float), vertices, GL_STATIC_DRAW);
// tex_coords vbo
glGenBuffers(1, &vbo_tex_coords_id);
glBindBuffer(GL_ARRAY_BUFFER, vbo_tex_coords_id);
glBufferData(GL_ARRAY_BUFFER, vertex_count * 2 * sizeof(float), tex_coords, GL_STATIC_DRAW);
// normals/binormals/tangents vbo
glGenBuffers(1, &vbo_normals_id);
glBindBuffer(GL_ARRAY_BUFFER, vbo_normals_id);
glBufferData(GL_ARRAY_BUFFER, vertex_count * 3 * sizeof(float), normals, GL_STATIC_DRAW);
glGenBuffers(1, &vbo_binormals_id);
glBindBuffer(GL_ARRAY_BUFFER, vbo_binormals_id);
glBufferData(GL_ARRAY_BUFFER, vertex_count * 3 * sizeof(float), binormals, GL_STATIC_DRAW);
glGenBuffers(1, &vbo_tangents_id);
glBindBuffer(GL_ARRAY_BUFFER, vbo_tangents_id);
glBufferData(GL_ARRAY_BUFFER, vertex_count * 3 * sizeof(float), tangents, GL_STATIC_DRAW);
// indices vbos
vbo_indices_ids = new GLuint[object_count];
for(unsigned int i = 0; i < object_count; i++) {
glGenBuffers(1, &vbo_indices_ids[i]);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo_indices_ids[i]);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, index_count[i] * 3 * sizeof(unsigned int), indices[i], GL_STATIC_DRAW);
}
// reset buffer
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
// general model setup
model_setup();
}
/*! loads a .a2m model file
* @param filename the name of the .a2m model file
* @param vbo flag that specifies if vertex buffer objects should be used
*/
void a2estatic::load_model(const string& filename_) {
file_io file(filename_, file_io::OPEN_TYPE::READ_BINARY);
if(!file.is_open()) {
return;
}
filename = filename_;
// get type and name
char* file_type = new char[9];
file.get_block(file_type, 8);
file_type[8] = 0;
if(strcmp(file_type, "A2EMODEL") != 0) {
log_error("non supported file type for %s: %s!", filename, file_type);
delete [] file_type;
file.close();
return;
}
delete [] file_type;
// get model version
unsigned int version = file.get_uint();
if(version != A2M_VERSION) {
log_error("wrong model file version %u - should be %u!", version, A2M_VERSION);
file.close();
return;
}
// get model type and abort if it's not 0x00 or 0x02
auto mtype = file.get_char();
if(mtype != 0x00 && mtype != 0x02) {
log_error("non supported model type: %u!", (unsigned int)(mtype & 0xFF));
file.close();
return;
}
if(mtype == 0x02) collision_model = true;
vertex_count = file.get_uint();
tex_coord_count = file.get_uint();
vertices = new float3[vertex_count];
normals = new float3[vertex_count];
binormals = new float3[vertex_count];
tangents = new float3[vertex_count];
tex_coords = new float2[tex_coord_count];
for(unsigned int i = 0; i < vertex_count; i++) {
vertices[i].x = file.get_float();
vertices[i].y = file.get_float();
vertices[i].z = file.get_float();
}
for(unsigned int i = 0; i < tex_coord_count; i++) {
tex_coords[i].x = file.get_float();
tex_coords[i].y = 1.0f - file.get_float();
}
object_count = file.get_uint();
delete_sub_bboxes();
sub_bboxes.resize(object_count);
object_names.clear();
object_names.resize(object_count);
for(unsigned int i = 0; i < object_count; i++) {
file.get_terminated_block(object_names[i], 0xFF);
}
indices = new uint3*[object_count];
tex_indices = new uint3*[object_count];
index_count = new unsigned int[object_count];
min_index = new unsigned int[object_count];
max_index = new unsigned int[object_count];
memset(min_index, 0xFF, sizeof(unsigned int)*object_count);
memset(max_index, 0, sizeof(unsigned int)*object_count);
for(unsigned int i = 0; i < object_count; i++) {
index_count[i] = file.get_uint();
indices[i] = new uint3[index_count[i]];
tex_indices[i] = new uint3[index_count[i]];
for(unsigned int j = 0; j < index_count[i]; j++) {
indices[i][j].x = file.get_uint();
indices[i][j].y = file.get_uint();
indices[i][j].z = file.get_uint();
}
for(unsigned int j = 0; j < index_count[i]; j++) {
tex_indices[i][j].x = file.get_uint();
tex_indices[i][j].y = file.get_uint();
tex_indices[i][j].z = file.get_uint();
}
}
if(collision_model) {
col_vertex_count = file.get_uint();
col_vertices = new float3[col_vertex_count];
for(unsigned int i = 0; i < col_vertex_count; i++) {
col_vertices[i].x = file.get_float();
col_vertices[i].y = file.get_float();
col_vertices[i].z = file.get_float();
}
col_index_count = file.get_uint();
col_indices = new uint3[col_index_count];
for(unsigned int i = 0; i < col_index_count; i++) {
col_indices[i].x = file.get_uint();
col_indices[i].y = file.get_uint();
col_indices[i].z = file.get_uint();
}
}
file.close();
// set this stuff for normal generating
model_indices = indices;
model_index_count = index_count;
generate_normals();
reorganize_model_data();
// set the actual model data after everything is computed correctly and its final state
model_indices = indices;
model_index_count = index_count;
model_vertices = new float3*[object_count];
model_tex_coords = new float2*[object_count];
model_vertex_count = new unsigned int[object_count];
for(unsigned int i = 0; i < object_count; i++) {
model_vertices[i] = &vertices[min_index[i]];
model_tex_coords[i] = &tex_coords[min_index[i]];
model_vertex_count[i] = max_index[i] - min_index[i] + 1;
}
build_bounding_box();
// vertices vbo
glGenBuffers(1, &vbo_vertices_id);
glBindBuffer(GL_ARRAY_BUFFER, vbo_vertices_id);
glBufferData(GL_ARRAY_BUFFER, vertex_count * 3 * sizeof(float), vertices, GL_STATIC_DRAW);
// tex_coords vbo
glGenBuffers(1, &vbo_tex_coords_id);
glBindBuffer(GL_ARRAY_BUFFER, vbo_tex_coords_id);
glBufferData(GL_ARRAY_BUFFER, vertex_count * 2 * sizeof(float), tex_coords, GL_STATIC_DRAW);
// normals/binormals/tangents vbo
glGenBuffers(1, &vbo_normals_id);
glBindBuffer(GL_ARRAY_BUFFER, vbo_normals_id);
glBufferData(GL_ARRAY_BUFFER, vertex_count * 3 * sizeof(float), normals, GL_STATIC_DRAW);
glGenBuffers(1, &vbo_binormals_id);
glBindBuffer(GL_ARRAY_BUFFER, vbo_binormals_id);
glBufferData(GL_ARRAY_BUFFER, vertex_count * 3 * sizeof(float), binormals, GL_STATIC_DRAW);
glGenBuffers(1, &vbo_tangents_id);
glBindBuffer(GL_ARRAY_BUFFER, vbo_tangents_id);
glBufferData(GL_ARRAY_BUFFER, vertex_count * 3 * sizeof(float), tangents, GL_STATIC_DRAW);
// indices vbos
vbo_indices_ids = new GLuint[object_count];
for(unsigned int i = 0; i < object_count; i++) {
glGenBuffers(1, &vbo_indices_ids[i]);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo_indices_ids[i]);
glBufferData(GL_ELEMENT_ARRAY_BUFFER, index_count[i] * 3 * sizeof(unsigned int), indices[i], GL_STATIC_DRAW);
}
// reset buffer
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
// general model setup
model_setup();
}
