void nRenderer::drawQuad(nVertex p1, nVertex p2, nVertex p3, nVertex p4) {
glBegin(GL_QUADS);
drawVertex(p1);
drawVertex(p2);
drawVertex(p3);
drawVertex(p4);
glEnd();
}
void nRenderer::drawTriangle(nTriangle t) {
t.material->bind();
glBegin(GL_TRIANGLES);
drawVertex(t.vert[0]);
drawVertex(t.vert[1]);
drawVertex(t.vert[2]);
glEnd();
}
/**
* Draw half a sphere, with one texture
*/
void Sphere::drawHalfSphere(GLuint tgLoc, GLuint tcoordsLoc) const
{
glBegin(GL_QUADS);
for (int j = 0; j < _hDivs; j++) {
for (int i = 0; i < _vDivs; i++) {
drawVertex(i, j, tgLoc, tcoordsLoc);
drawVertex(i+1, j, tgLoc, tcoordsLoc);
drawVertex(i+1, j+1, tgLoc, tcoordsLoc);
drawVertex(i, j+1, tgLoc, tcoordsLoc);
}
}
glEnd();
}
void nRenderer::drawTriangles(vector<nTriangle> tr) {
nMaterial *mat = 0;
glBegin(GL_TRIANGLES);
for(unsigned int i = 0; i != tr.size(); i++) {
if(tr[i].material != mat) {
mat = tr[i].material;
glEnd();
tr[i].material->bind();
glBegin(GL_TRIANGLES);
}
drawVertex(tr[i].vert[0]);
drawVertex(tr[i].vert[1]);
drawVertex(tr[i].vert[2]);
}
glEnd();
}
void nRenderer::drawTriangles(nTriangle *t, unsigned int count) {
nMaterial *mat = 0;
glBegin(GL_TRIANGLES);
for(unsigned int i = 0; i != count; i++) {
if(t[i].material != mat) {
mat = t[i].material;
glEnd();
t[i].material->bind();
glBegin(GL_TRIANGLES);
}
drawVertex(t[i].vert[0]);
drawVertex(t[i].vert[1]);
drawVertex(t[i].vert[2]);
}
glEnd();
}
// Рисует панель высот вершин (справа).
void MaxFlowVisualizer::drawHeightsBar(QPainter &painter) {
painter.save();
painter.setPen(QPen(Qt::black, 3));
painter.setBrush(Qt::lightGray);
size_t verteciesNumber = verteciesList.size();
int levelCount = countUsedHeightLevels();
int borderOffset = VisableVertex::DEFAULT_VERTEX_RADIUS;
// Для удобства перенесем систему коодинат в левый верхний угол будующей панели.
painter.translate(width() - RIGHT_BAR_OF_HEIGHTS_WIDTH, borderOffset);
unsigned barWidth = RIGHT_BAR_OF_HEIGHTS_WIDTH;
int barHeight = height() - 2 * borderOffset;
int bottomY = barHeight;
double scaleHeight = barHeight / levelCount;
// Рисует горизонтальные линии, соответсвующие уровням.
for (size_t level = 0; level < levelCount; ++level) {
int x = 0;
painter.drawLine(x,
bottomY - scaleHeight * level,
x + barWidth,
bottomY - scaleHeight * level);
}
// Отображение вершин на панели высот.
double scaleWidth = RIGHT_BAR_OF_HEIGHTS_WIDTH / verteciesNumber;
for (size_t vertex = 0; vertex < verteciesNumber; ++vertex) {
// Для того, чтобы все визуальные эффекты вершины (выделение, надписи и т.д.)
// отображались и на боковой панели высот, мы в явном виде создаем новую
// вершину - точную копию исходной (простой конструктор копирования)
// и перемещаем ее на нужное место на панели высот.
VisableVertex currentVertex(verteciesList[vertex]);
currentVertex.setCenterCoordX(borderOffset + scaleWidth * vertex);
currentVertex.setCenterCoordY(bottomY - scaleHeight * relabelToFrontAlgo.getVertexHeight(vertex));
drawVertex(currentVertex, painter);
}
painter.restore();
}
void btSoftBodyHelpers::DrawFrame( btSoftBody* psb,
btIDebugDraw* idraw)
{
if(psb->m_pose.m_bframe)
{
static const btScalar ascl=10;
static const btScalar nscl=(btScalar)0.1;
const btVector3 com=psb->m_pose.m_com;
const btMatrix3x3 trs=psb->m_pose.m_rot*psb->m_pose.m_scl;
const btVector3 Xaxis=(trs*btVector3(1,0,0)).normalized();
const btVector3 Yaxis=(trs*btVector3(0,1,0)).normalized();
const btVector3 Zaxis=(trs*btVector3(0,0,1)).normalized();
idraw->drawLine(com,com+Xaxis*ascl,btVector3(1,0,0));
idraw->drawLine(com,com+Yaxis*ascl,btVector3(0,1,0));
idraw->drawLine(com,com+Zaxis*ascl,btVector3(0,0,1));
for(int i=0;i<psb->m_pose.m_pos.size();++i)
{
const btVector3 x=com+trs*psb->m_pose.m_pos[i];
drawVertex(idraw,x,nscl,btVector3(1,0,1));
}
}
}
void QgsGeometryRubberBand::paint( QPainter *painter )
{
if ( !mGeometry || !painter )
{
return;
}
painter->save();
painter->translate( -pos() );
if ( mGeometryType == QgsWkbTypes::PolygonGeometry )
{
painter->setBrush( mBrush );
}
else
{
painter->setBrush( Qt::NoBrush );
}
painter->setPen( mPen );
QgsAbstractGeometry *paintGeom = mGeometry->clone();
paintGeom->transform( mMapCanvas->getCoordinateTransform()->transform() );
paintGeom->draw( *painter );
//draw vertices
QgsVertexId vertexId;
QgsPoint vertex;
while ( paintGeom->nextVertex( vertexId, vertex ) )
{
drawVertex( painter, vertex.x(), vertex.y() );
}
delete paintGeom;
painter->restore();
}
/**
* Berechnet anhand der Rekursionstiefe die Anzahl der Quadrate auf dem Boden
* @param p1,p2,p3,p4 - Die Ecken des Quadrats
* @param rek - Rekursionstiefe
* @param color - die Farbe der Quadrate
*
*/
void drawRecursiveQuad(CGPoint3f p1, CGPoint3f p2, CGPoint3f p3, CGPoint3f p4, int rek, int color)
{
CGPoint3f middle0 = {0.0,0.0,0.0},
middle1 = {0.0,0.0,0.0},
middle2 = {0.0,0.0,0.0},
middle3 = {0.0,0.0,0.0},
center = {0.0,0.0,0.0};
center[0] = (p1[0] + p3[0]) / 2;
center[2] = (p1[2] + p3[2]) / 2;
middle0[0] = (p1[0] + p2[0]) / 2;
middle0[2] = (p1[2] + p2[2]) / 2;
middle1[0] = (p2[0] + p3[0]) / 2;
middle1[2] = (p2[2] + p3[2]) / 2;
middle2[0] = (p3[0] + p4[0]) / 2;
middle2[2] = (p3[2] + p4[2]) / 2;
middle3[0] = (p4[0] + p1[0]) / 2;
middle3[2] = (p4[2] + p1[2]) / 2;
if (rek > 0)
{
drawRecursiveQuad(center,middle0,p2,middle1, rek-1, color);
drawRecursiveQuad(center,middle1,p3,middle2, rek-1, !color);
drawRecursiveQuad(center,middle2,p4,middle3, rek-1, color);
drawRecursiveQuad(center,middle3,p1,middle0, rek-1, !color);
} else {
/*drawVertex(p1,p2,p3,p4, color);*/
drawVertex(p4,p3,p2,p1, color);
}
}
void btSoftBodyHelpers::Draw( btSoftBody* psb,
btIDebugDraw* idraw,
int drawflags)
{
const btScalar scl=(btScalar)0.1;
const btScalar nscl=scl*5;
const btVector3 lcolor=btVector3(0,0,0);
const btVector3 ncolor=btVector3(1,1,1);
const btVector3 ccolor=btVector3(1,0,0);
int i,j,nj;
/* Nodes */
if(0!=(drawflags&fDrawFlags::Nodes))
{
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
}
}
/* Links */
if(0!=(drawflags&fDrawFlags::Links))
{
for(i=0;i<psb->m_links.size();++i)
{
const btSoftBody::Link& l=psb->m_links[i];
if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor);
}
}
/* Normals */
if(0!=(drawflags&fDrawFlags::Normals))
{
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 d=n.m_n*nscl;
idraw->drawLine(n.m_x,n.m_x+d,ncolor);
idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
}
}
/* Contacts */
if(0!=(drawflags&fDrawFlags::Contacts))
{
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
for(i=0;i<psb->m_rcontacts.size();++i)
{
const btSoftBody::RContact& c=psb->m_rcontacts[i];
const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
(dot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
const btVector3 x=cross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
const btVector3 y=cross(x,c.m_cti.m_normal).normalized();
idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
}
}
/* Anchors */
if(0!=(drawflags&fDrawFlags::Anchors))
{
for(i=0;i<psb->m_anchors.size();++i)
{
const btSoftBody::Anchor& a=psb->m_anchors[i];
const btVector3 q=a.m_body->getWorldTransform()*a.m_local;
drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0));
drawVertex(idraw,q,0.25,btVector3(0,1,0));
idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
}
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
if(n.m_im<=0)
{
drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0));
}
}
}
/* Faces */
if(0!=(drawflags&fDrawFlags::Faces))
{
const btScalar scl=(btScalar)0.8;
const btScalar alp=(btScalar)1;
const btVector3 col(0,(btScalar)0.7,0);
for(i=0;i<psb->m_faces.size();++i)
{
const btSoftBody::Face& f=psb->m_faces[i];
if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
const btVector3 c=(x[0]+x[1]+x[2])/3;
idraw->drawTriangle((x[0]-c)*scl+c,
(x[1]-c)*scl+c,
(x[2]-c)*scl+c,
col,alp);
}
}
/* Clusters */
if(0!=(drawflags&fDrawFlags::Clusters))
{
srand(1806);
for(i=0;i<psb->m_clusters.size();++i)
{
if(psb->m_clusters[i]->m_collide)
{
btVector3 color( rand()/(btScalar)RAND_MAX,
rand()/(btScalar)RAND_MAX,
rand()/(btScalar)RAND_MAX);
color=color.normalized()*0.75;
btAlignedObjectArray<btVector3> vertices;
vertices.resize(psb->m_clusters[i]->m_nodes.size());
for(j=0,nj=vertices.size();j<nj;++j)
{
vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
}
HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
HullResult hres;
HullLibrary hlib;
hdsc.mMaxVertices=vertices.size();
hlib.CreateConvexHull(hdsc,hres);
const btVector3 center=average(hres.m_OutputVertices);
add(hres.m_OutputVertices,-center);
mul(hres.m_OutputVertices,(btScalar)1);
add(hres.m_OutputVertices,center);
for(j=0;j<(int)hres.mNumFaces;++j)
{
const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]};
idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
hres.m_OutputVertices[idx[1]],
hres.m_OutputVertices[idx[2]],
color,1);
}
hlib.ReleaseResult(hres);
}
/* Velocities */
#if 0
for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
{
const btSoftBody::Cluster& c=psb->m_clusters[i];
const btVector3 r=c.m_nodes[j]->m_x-c.m_com;
const btVector3 v=c.m_lv+cross(c.m_av,r);
idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
}
#endif
/* Frame */
btSoftBody::Cluster& c=*psb->m_clusters[i];
idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
}
}
/* Notes */
if(0!=(drawflags&fDrawFlags::Notes))
{
for(i=0;i<psb->m_notes.size();++i)
{
const btSoftBody::Note& n=psb->m_notes[i];
btVector3 p=n.m_offset;
for(int j=0;j<n.m_rank;++j)
{
p+=n.m_nodes[j]->m_x*n.m_coords[j];
}
idraw->draw3dText(p,n.m_text);
}
}
/* Node tree */
if(0!=(drawflags&fDrawFlags::NodeTree)) DrawNodeTree(psb,idraw);
/* Face tree */
if(0!=(drawflags&fDrawFlags::FaceTree)) DrawFaceTree(psb,idraw);
/* Cluster tree */
if(0!=(drawflags&fDrawFlags::ClusterTree)) DrawClusterTree(psb,idraw);
/* Joints */
if(0!=(drawflags&fDrawFlags::Joints))
{
for(i=0;i<psb->m_joints.size();++i)
{
const btSoftBody::Joint* pj=psb->m_joints[i];
switch(pj->Type())
{
case btSoftBody::Joint::eType::Linear:
{
const btSoftBody::LJoint* pjl=(const btSoftBody::LJoint*)pj;
const btVector3 a0=pj->m_bodies[0].xform()*pjl->m_refs[0];
const btVector3 a1=pj->m_bodies[1].xform()*pjl->m_refs[1];
idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0));
idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1));
drawVertex(idraw,a0,0.25,btVector3(1,1,0));
drawVertex(idraw,a1,0.25,btVector3(0,1,1));
}
break;
case btSoftBody::Joint::eType::Angular:
{
const btSoftBody::AJoint* pja=(const btSoftBody::AJoint*)pj;
const btVector3 o0=pj->m_bodies[0].xform().getOrigin();
const btVector3 o1=pj->m_bodies[1].xform().getOrigin();
const btVector3 a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0];
const btVector3 a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1];
idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0));
idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0));
idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1));
idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1));
}
}
}
}
}
/*
* Called when we should redraw the scene (i.e. every frame).
* It will show the current framerate in the window title.
*/
void draw(void) {
int time = glutGet(GLUT_ELAPSED_TIME);
int frametime = time - last_time;
frame_count++;
// Clear the buffer
glColor3f(0, 0, 0);
glClear(GL_COLOR_BUFFER_BIT);
//
// Do any logic and drawing here.
//
// suggested vel = 8, suggested pos = 3.
float32 timestep = 1.0f / 60.0f;
int32 velocity_iterations = 6;
int32 position_iterations = 2;
b2Body *body_list = world->GetBodyList();
int current_polygon = 0;
while(body_list != NULL) {
b2Fixture *fixture_list = body_list->GetFixtureList();
if (ground == body_list) {
body_list = body_list->GetNext();
current_polygon++;
continue;
}
while(fixture_list != NULL) {
if (fixture_list->GetType() == 2) {
b2PolygonShape *poly = (b2PolygonShape*) fixture_list->GetShape();
drawPolygon(body_list, poly);
}
fixture_list = fixture_list->GetNext();
}
body_list = body_list->GetNext();
current_polygon++;
}
if (play) {
world->Step(timestep, velocity_iterations, position_iterations);
/* If the ball has reached the finish, continue to the next level or finish the game. */
b2Vec2 position = ball->GetPosition();
if (ballHasReachedFinish(position)) {
if (current_level > num_levels) {
timeval play_time2;
gettimeofday(&play_time2, 0);
fprintf(stderr, "You have played for %d seconds.\n",
play_time2.tv_sec - play_time.tv_sec);
fprintf(stderr, "You have won the game! Also, you have lost the game... ;)\n");
exit(0);
} else {
gettimeofday(&finish_time, 0);
fprintf(stderr, "You finished level %d in %d seconds!\n", current_level,
finish_time.tv_sec - start_time.tv_sec);
if (current_level >= num_levels) {
fprintf(stderr, "You have won the game! Also, you have lost the game... ;)\n");
exit(0);
} else {
load_world(current_level);
/* Automatically pause the world... */
play = 0;
}
}
}
}
// Draw ball
drawBall();
// Draw finish
drawFinish();
if (num_vertices > -1) {
drawVertex(num_vertices);
// printf("derp%d\n", num_vertices);
if (drawn == 1) {
num_vertices = -1;
drawn = 0;
}
}
// Show rendered frame
glutSwapBuffers();
// Display fps in window title.
if (frametime >= 1000) {
char window_title[128];
snprintf(window_title, 128,
"Box2D: %f fps, level %d/%d",
frame_count / (frametime / 1000.f), current_level, num_levels);
glutSetWindowTitle(window_title);
last_time = time;
frame_count = 0;
}
}
void btSoftBodyHelpers::Draw( btSoftBody* psb,
btIDebugDraw* idraw,
int drawflags)
{
const btScalar scl=(btScalar)0.1;
const btScalar nscl=scl*5;
const btVector3 lcolor=btVector3(0,0,0);
const btVector3 ncolor=btVector3(1,1,1);
const btVector3 ccolor=btVector3(1,0,0);
int i,j,nj;
/* Clusters */
if(0!=(drawflags&fDrawFlags::Clusters))
{
srand(1806);
for(i=0;i<psb->m_clusters.size();++i)
{
if(psb->m_clusters[i]->m_collide)
{
btVector3 color( rand()/(btScalar)RAND_MAX,
rand()/(btScalar)RAND_MAX,
rand()/(btScalar)RAND_MAX);
color=color.normalized()*0.75;
btAlignedObjectArray<btVector3> vertices;
vertices.resize(psb->m_clusters[i]->m_nodes.size());
for(j=0,nj=vertices.size();j<nj;++j)
{
vertices[j]=psb->m_clusters[i]->m_nodes[j]->m_x;
}
#define USE_NEW_CONVEX_HULL_COMPUTER
#ifdef USE_NEW_CONVEX_HULL_COMPUTER
btConvexHullComputer computer;
int stride = sizeof(btVector3);
int count = vertices.size();
btScalar shrink=0.f;
btScalar shrinkClamp=0.f;
computer.compute(&vertices[0].getX(),stride,count,shrink,shrinkClamp);
for (int i=0;i<computer.faces.size();i++)
{
int face = computer.faces[i];
//printf("face=%d\n",face);
const btConvexHullComputer::Edge* firstEdge = &computer.edges[face];
const btConvexHullComputer::Edge* edge = firstEdge->getNextEdgeOfFace();
int v0 = firstEdge->getSourceVertex();
int v1 = firstEdge->getTargetVertex();
while (edge!=firstEdge)
{
int v2 = edge->getTargetVertex();
idraw->drawTriangle(computer.vertices[v0],computer.vertices[v1],computer.vertices[v2],color,1);
edge = edge->getNextEdgeOfFace();
v0=v1;
v1=v2;
};
}
#else
HullDesc hdsc(QF_TRIANGLES,vertices.size(),&vertices[0]);
HullResult hres;
HullLibrary hlib;
hdsc.mMaxVertices=vertices.size();
hlib.CreateConvexHull(hdsc,hres);
const btVector3 center=average(hres.m_OutputVertices);
add(hres.m_OutputVertices,-center);
mul(hres.m_OutputVertices,(btScalar)1);
add(hres.m_OutputVertices,center);
for(j=0;j<(int)hres.mNumFaces;++j)
{
const int idx[]={hres.m_Indices[j*3+0],hres.m_Indices[j*3+1],hres.m_Indices[j*3+2]};
idraw->drawTriangle(hres.m_OutputVertices[idx[0]],
hres.m_OutputVertices[idx[1]],
hres.m_OutputVertices[idx[2]],
color,1);
}
hlib.ReleaseResult(hres);
#endif
}
/* Velocities */
#if 0
for(int j=0;j<psb->m_clusters[i].m_nodes.size();++j)
{
const btSoftBody::Cluster& c=psb->m_clusters[i];
const btVector3 r=c.m_nodes[j]->m_x-c.m_com;
const btVector3 v=c.m_lv+btCross(c.m_av,r);
idraw->drawLine(c.m_nodes[j]->m_x,c.m_nodes[j]->m_x+v,btVector3(1,0,0));
}
#endif
/* Frame */
// btSoftBody::Cluster& c=*psb->m_clusters[i];
// idraw->drawLine(c.m_com,c.m_framexform*btVector3(10,0,0),btVector3(1,0,0));
// idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,10,0),btVector3(0,1,0));
// idraw->drawLine(c.m_com,c.m_framexform*btVector3(0,0,10),btVector3(0,0,1));
}
}
else
{
/* Nodes */
if(0!=(drawflags&fDrawFlags::Nodes))
{
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
idraw->drawLine(n.m_x-btVector3(scl,0,0),n.m_x+btVector3(scl,0,0),btVector3(1,0,0));
idraw->drawLine(n.m_x-btVector3(0,scl,0),n.m_x+btVector3(0,scl,0),btVector3(0,1,0));
idraw->drawLine(n.m_x-btVector3(0,0,scl),n.m_x+btVector3(0,0,scl),btVector3(0,0,1));
}
}
/* Links */
if(0!=(drawflags&fDrawFlags::Links))
{
for(i=0;i<psb->m_links.size();++i)
{
const btSoftBody::Link& l=psb->m_links[i];
if(0==(l.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
idraw->drawLine(l.m_n[0]->m_x,l.m_n[1]->m_x,lcolor);
}
}
/* Normals */
if(0!=(drawflags&fDrawFlags::Normals))
{
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 d=n.m_n*nscl;
idraw->drawLine(n.m_x,n.m_x+d,ncolor);
idraw->drawLine(n.m_x,n.m_x-d,ncolor*0.5);
}
}
/* Contacts */
if(0!=(drawflags&fDrawFlags::Contacts))
{
static const btVector3 axis[]={btVector3(1,0,0),
btVector3(0,1,0),
btVector3(0,0,1)};
for(i=0;i<psb->m_rcontacts.size();++i)
{
const btSoftBody::RContact& c=psb->m_rcontacts[i];
const btVector3 o= c.m_node->m_x-c.m_cti.m_normal*
(btDot(c.m_node->m_x,c.m_cti.m_normal)+c.m_cti.m_offset);
const btVector3 x=btCross(c.m_cti.m_normal,axis[c.m_cti.m_normal.minAxis()]).normalized();
const btVector3 y=btCross(x,c.m_cti.m_normal).normalized();
idraw->drawLine(o-x*nscl,o+x*nscl,ccolor);
idraw->drawLine(o-y*nscl,o+y*nscl,ccolor);
idraw->drawLine(o,o+c.m_cti.m_normal*nscl*3,btVector3(1,1,0));
}
}
/* Faces */
if(0!=(drawflags&fDrawFlags::Faces))
{
const btScalar scl=(btScalar)0.8;
const btScalar alp=(btScalar)1;
const btVector3 col(0,(btScalar)0.7,0);
for(i=0;i<psb->m_faces.size();++i)
{
const btSoftBody::Face& f=psb->m_faces[i];
if(0==(f.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 x[]={f.m_n[0]->m_x,f.m_n[1]->m_x,f.m_n[2]->m_x};
const btVector3 c=(x[0]+x[1]+x[2])/3;
idraw->drawTriangle((x[0]-c)*scl+c,
(x[1]-c)*scl+c,
(x[2]-c)*scl+c,
col,alp);
}
}
/* Tetras */
if(0!=(drawflags&fDrawFlags::Tetras))
{
const btScalar scl=(btScalar)0.8;
const btScalar alp=(btScalar)1;
const btVector3 col((btScalar)0.3,(btScalar)0.3,(btScalar)0.7);
for(int i=0;i<psb->m_tetras.size();++i)
{
const btSoftBody::Tetra& t=psb->m_tetras[i];
if(0==(t.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
const btVector3 x[]={t.m_n[0]->m_x,t.m_n[1]->m_x,t.m_n[2]->m_x,t.m_n[3]->m_x};
const btVector3 c=(x[0]+x[1]+x[2]+x[3])/4;
idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[2]-c)*scl+c,col,alp);
idraw->drawTriangle((x[0]-c)*scl+c,(x[1]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
idraw->drawTriangle((x[1]-c)*scl+c,(x[2]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
idraw->drawTriangle((x[2]-c)*scl+c,(x[0]-c)*scl+c,(x[3]-c)*scl+c,col,alp);
}
}
}
/* Anchors */
if(0!=(drawflags&fDrawFlags::Anchors))
{
for(i=0;i<psb->m_anchors.size();++i)
{
const btSoftBody::Anchor& a=psb->m_anchors[i];
const btVector3 q=a.m_body->getWorldTransform()*a.m_local;
drawVertex(idraw,a.m_node->m_x,0.25,btVector3(1,0,0));
drawVertex(idraw,q,0.25,btVector3(0,1,0));
idraw->drawLine(a.m_node->m_x,q,btVector3(1,1,1));
}
for(i=0;i<psb->m_nodes.size();++i)
{
const btSoftBody::Node& n=psb->m_nodes[i];
if(0==(n.m_material->m_flags&btSoftBody::fMaterial::DebugDraw)) continue;
if(n.m_im<=0)
{
drawVertex(idraw,n.m_x,0.25,btVector3(1,0,0));
}
}
}
/* Notes */
if(0!=(drawflags&fDrawFlags::Notes))
{
for(i=0;i<psb->m_notes.size();++i)
{
const btSoftBody::Note& n=psb->m_notes[i];
btVector3 p=n.m_offset;
for(int j=0;j<n.m_rank;++j)
{
p+=n.m_nodes[j]->m_x*n.m_coords[j];
}
idraw->draw3dText(p,n.m_text);
}
}
/* Node tree */
if(0!=(drawflags&fDrawFlags::NodeTree)) DrawNodeTree(psb,idraw);
/* Face tree */
if(0!=(drawflags&fDrawFlags::FaceTree)) DrawFaceTree(psb,idraw);
/* Cluster tree */
if(0!=(drawflags&fDrawFlags::ClusterTree)) DrawClusterTree(psb,idraw);
/* Joints */
if(0!=(drawflags&fDrawFlags::Joints))
{
for(i=0;i<psb->m_joints.size();++i)
{
const btSoftBody::Joint* pj=psb->m_joints[i];
switch(pj->Type())
{
case btSoftBody::Joint::eType::Linear:
{
const btSoftBody::LJoint* pjl=(const btSoftBody::LJoint*)pj;
const btVector3 a0=pj->m_bodies[0].xform()*pjl->m_refs[0];
const btVector3 a1=pj->m_bodies[1].xform()*pjl->m_refs[1];
idraw->drawLine(pj->m_bodies[0].xform().getOrigin(),a0,btVector3(1,1,0));
idraw->drawLine(pj->m_bodies[1].xform().getOrigin(),a1,btVector3(0,1,1));
drawVertex(idraw,a0,0.25,btVector3(1,1,0));
drawVertex(idraw,a1,0.25,btVector3(0,1,1));
}
break;
case btSoftBody::Joint::eType::Angular:
{
//const btSoftBody::AJoint* pja=(const btSoftBody::AJoint*)pj;
const btVector3 o0=pj->m_bodies[0].xform().getOrigin();
const btVector3 o1=pj->m_bodies[1].xform().getOrigin();
const btVector3 a0=pj->m_bodies[0].xform().getBasis()*pj->m_refs[0];
const btVector3 a1=pj->m_bodies[1].xform().getBasis()*pj->m_refs[1];
idraw->drawLine(o0,o0+a0*10,btVector3(1,1,0));
idraw->drawLine(o0,o0+a1*10,btVector3(1,1,0));
idraw->drawLine(o1,o1+a0*10,btVector3(0,1,1));
idraw->drawLine(o1,o1+a1*10,btVector3(0,1,1));
break;
}
default:
{
}
}
}
}
}
void Moon::renderOrbit(void){
glBegin(GL_LINE_STRIP);
drawVertex();
glEnd();
}
void drawQuads(float x, float y, float z)
//x,y,z typically 1.
// useful for clipping
// If x=0.5 then only left side of texture drawn
// If y=0.5 then only posterior side of texture drawn
// If z=0.5 then only inferior side of texture drawn
{
glBegin(GL_QUADS);
//* Back side
glNormal3f(0.0, 0.0, -1.0);
drawVertex(0.0, 0.0, 0.0);
drawVertex(0.0, y, 0.0);
drawVertex(x, y, 0.0);
drawVertex(x, 0.0, 0.0);
//* Front side
glNormal3f(0.0, 0.0, 1.0);
drawVertex(0.0, 0.0, z);
drawVertex(x, 0.0, z);
drawVertex(x, y, z);
drawVertex(0.0, y, z);
//* Top side
glNormal3f(0.0, 1.0, 0.0);
drawVertex(0.0, y, 0.0);
drawVertex(0.0, y, z);
drawVertex(x, y, z);
drawVertex(x, y, 0.0);
//* Bottom side
glNormal3f(0.0, -1.0, 0.0);
drawVertex(0.0, 0.0, 0.0);
drawVertex(x, 0.0, 0.0);
drawVertex(x, 0.0, z);
drawVertex(0.0, 0.0, z);
//* Left side
glNormal3f(-1.0, 0.0, 0.0);
drawVertex(0.0, 0.0, 0.0);
drawVertex(0.0, 0.0, z);
drawVertex(0.0, y, z);
drawVertex(0.0, y, 0.0);
//* Right side
glNormal3f(1.0, 0.0, 0.0);
drawVertex(x, 0.0, 0.0);
drawVertex(x, y, 0.0);
drawVertex(x, y, z);
drawVertex(x, 0.0, z);
glEnd();
}
CImg<double> HoughTransf(CImg<double> testImg, double threshold) {
int w = testImg.width();
int h = testImg.height();
int z = testImg.depth();
int c = testImg.spectrum();
int centerX = w/2;
int centerY = h/2;
int hough_space = 1000;
double hough_cell = PI/hough_space;
int diagonalLine = (int)round(sqrt(w*w + h*h));
CImg<double> houghImg(hough_space,diagonalLine*2,z,c);
houghImg.fill(0);
// start hough transform now...
double theta = 0;
int r = 0;
cimg_forXYZC(testImg, x,y,z,c) {
if (testImg(x,y,z,c) != 0) {
for (int i = 0; i < hough_space; i++) {
double theta = i*hough_cell;
r = (int)((y-centerY)*sin(theta) - (x-centerX)*cos(theta));
r += diagonalLine; //从原点diagonalLine开始，上下对称
if (r >= 0 && r < 2*diagonalLine)
houghImg(i,r,z,c) = houghImg(i,r,z,c) + 1;
}
}
}
//houghImg.display("HOugh");
int max_hough = 0;
cimg_forXYZC (houghImg, x,y,z,c) {
if (houghImg(x,y,z,c) > max_hough)
max_hough = houghImg(x,y,z,c);
}
//transfer back to image pixels space from hough space...
int hough_threshold = (int)round(threshold*max_hough);
cimg_forXYZC (houghImg, x,y,z,c) {
if (houghImg(x,y,z,c) < hough_threshold)
houghImg(x,y,z,c) = 0;
}
//houghImg.display("hough");
CImg<double> houghImg_copy(houghImg);
houghImg_copy.sort(false);
int pass = 0;
//表示是否已经找到一条宽或长
bool x_match = false;
bool y_match = false;
double xb1 = 0;
double xb2 = 0;
double yb1 = 0;
double yb2 = 0;
double xtheta1 = 0;
double xtheta2 = 0;
double ytheta1 = 0;
double ytheta2 = 0;
int r1 = 0;
int r2 = 0;
int cell1 = 0;
int cell2 = 0;
int count = 0;
bool finish_x = false;
bool finish_y = false;
CImg<int> vertex(4,1,1,2); //用于保存角点
int v = 0;
cimg_forXYZC(houghImg, hx,hy,z,c) {
if (count == 4) break;
if (houghImg(hx,hy,z,c) == houghImg_copy(pass,0,0,0)) {
if (hx*180/hough_space > 45 && hx*180/hough_space <= 135) {
if (!finish_x) {
if (x_match) {
xb2 = (hy-diagonalLine)/sin(hx*hough_cell);
xtheta2 = hx*180/hough_space;
cell2 = hx;
double min_theta = xtheta1 > xtheta2? xtheta2 : xtheta1;
double max_theta = xtheta1 > xtheta2? xtheta1 : xtheta2;
if (((min_theta+180-max_theta < 10 && xb1*xb2>0) ||abs(xtheta2- xtheta1) < 10) && abs(cell1-cell2) > 10) {
for (int x = 0; x < w; x++) {
int y = (int)((hy-diagonalLine+(x-centerX)*cos(hx*hough_cell))/sin(hx*hough_cell))+centerY;
if (y < h && y >= 0) {
if (testImg(x,y,0,0) == 255) {
cout << "角点坐标为: (" << x << "," << y << ")" << endl;
vertex(v,0,0,0) = x;
vertex(v++,0,0,1) = y;
}else
testImg(x,y,0,0) = 255;
}
}
count++;
//testImg.display();
finish_x = true;
//打印直线信息
cout << "pass: "******", max: " << houghImg_copy(pass,0,0,0) << ", hx: " << hx
<< ", hy: " << hy << ", theta: " << hx*180/hough_space << ", B: " << (hy-diagonalLine)/sin(hx*hough_cell)
<< ", K: " << -sin(hx*hough_cell)/cos(hx*hough_cell) << endl;
}
} else {
count++;
x_match = true;
cell1 = hx;
xtheta1 = hx*180/hough_space;
xb1 = (hy-diagonalLine)/sin(hx*hough_cell);
for (int x = 0; x < w; x++) {
int y = (int)((hy-diagonalLine+(x-centerX)*cos(hx*hough_cell))/sin(hx*hough_cell))+centerY;
if (y < h && y >= 0) {
if (testImg(x,y,0,0) == 255) {
cout << "角点坐标为: (" << x << "," << y << ")" << endl;
vertex(v,0,0,0) = x;
vertex(v++,0,0,1) = y;
} else
testImg(x,y,0,0) = 255;
}
}
//testImg.display();
//打印直线信息
cout << "pass: "******", max: " << houghImg_copy(pass,0,0,0) << ", hx: " << hx
<< ", hy: " << hy << ", theta: " << hx*180/hough_space << ", B: " << (hy-diagonalLine)/sin(hx*hough_cell)
<< ", K: " << -sin(hx*hough_cell)/cos(hx*hough_cell) << endl;
}
}
} else {
if (!finish_y) {
if (y_match) {
yb2 = (hy-diagonalLine)/sin(hx*hough_cell);
ytheta2 = hx*180/hough_space;
r2 = hy;
double min_theta = ytheta1 > ytheta2? ytheta2 : ytheta1;
double max_theta = ytheta1 > ytheta2? ytheta1 : ytheta2;
//如果角度基本互补，那么截距符号要一样，否则说明两条线基本重合,假设如果两条直线的夹角大于10，很有可能该直线不是要找的边缘
if (((min_theta+180-max_theta < 10 && yb1*yb2 > 0) || (abs(ytheta2- ytheta1) < 10)) &&abs(r2-r1) > 10&& r2 > 0) {
for (int y = 0; y < h; y++) {
int x = (int)((-hy+diagonalLine+(y-centerY)*sin(hx*hough_cell))/cos(hx*hough_cell))+centerX;
if (x < w && x >= 0) {
if (testImg(x,y,0,0) == 255) {
cout << "角点坐标为: (" << x << "," << y << ")" << endl;
vertex(v,0,0,0) = x;
vertex(v++,0,0,1) = y;
} else
testImg(x,y,0,0) = 255;
}
}
count++;
//testImg.display();
finish_y = true;
//打印直线信息
cout << "pass: "******", max: " << houghImg_copy(pass,0,0,0) << ", hx: " << hx
<< ", hy: " << hy << ", theta: " << hx*180/hough_space << ", B: " << (hy-diagonalLine)/sin(hx*hough_cell)
<< ", K: " << -sin(hx*hough_cell)/cos(hx*hough_cell) << endl;
}
} else {
count++;
y_match = true;
r1 = hy;
ytheta1 = hx*180/hough_space;
yb1 = (hy-diagonalLine)/sin(hx*hough_cell);
for (int y = 0; y < h; y++) {
int x = (int)((-hy+diagonalLine+(y-centerY)*sin(hx*hough_cell))/cos(hx*hough_cell))+centerX;
if (x < w && x >= 0) {
if (testImg(x,y,0,0) == 255) {
cout << "角点坐标为: (" << x << "," << y << ")" << endl;
vertex(v,0,0,0) = x;
vertex(v++,0,0,1) = y;
} else
testImg(x,y,0,0) = 255;
}
}
//打印直线信息
cout << "pass: "******", max: " << houghImg_copy(pass,0,0,0) << ", hx: " << hx
<< ", hy: " << hy << ", theta: " << hx*180/hough_space << ", B: " << (hy-diagonalLine)/sin(hx*hough_cell)
<< ", K: " << -sin(hx*hough_cell)/cos(hx*hough_cell) << endl;
//testImg.display();
}
}
}
hx = 0;
hy = 0;
pass++;
}
}
//testImg.display("line");
return drawVertex(vertex,testImg);
}
void MaxFlowVisualizer::showVertecies(QPainter &painter) {
for (VertexIndex vertex = 0; vertex < verteciesList.size(); ++vertex) {
drawVertex(verteciesList[vertex], painter);
}
}
