csColor GetPixel (float coord_x, float coord_y)
{
// Scale the texture coordinates.
coord_x *= textureScale.x;
coord_y *= textureScale.y;
// Calculate the material coordinates.
float matcoord_x_f = (coord_x * img_w);
float matcoord_y_f = (coord_y * img_h);
int matcoord_x = int (matcoord_x_f);
int matcoord_y = int (matcoord_y_f);
// Bilinearly filter from material.
csColor p00 (GetPixelWrap (img, img_w, img_h,
matcoord_x, matcoord_y));
csColor p01 (GetPixelWrap (img, img_w, img_h,
matcoord_x, matcoord_y+1));
csColor p11 (GetPixelWrap (img, img_w, img_h,
matcoord_x+1, matcoord_y+1));
csColor p10 (GetPixelWrap (img, img_w, img_h,
matcoord_x+1, matcoord_y));
float f1 = matcoord_x_f - matcoord_x;
float f2 = matcoord_y_f - matcoord_y;
return csLerp (csLerp (p00, p10, f1),
csLerp (p01, p11, f1), f2);
}
static void pointDemo() {
std::cout << "Origin:" << std::endl;
Point orig, p11(1,1);
std::cout << "orig.x=" << orig.GetX() << ", orig.y=" << orig.GetY() << std::endl;
std::cout << orig << std::endl;
std::cout << p11 << std::endl;
}
/**
* @brief
* Calculate the intersection point of a line segment and the two triangles making a the cell of a height map terrain
*/
dFloat BodyTerrain::RayCastCell(int xIndex0, int zIndex0, const Vector3 &p0, const Vector3 &dp, Vector3 &normalOut)
{
dFloat t;
// Clamp x
if (xIndex0 < 0)
xIndex0 = 0;
if (xIndex0 >= static_cast<int>(m_nWidth)-1)
xIndex0 = m_nWidth-2;
// Clamp z
if (zIndex0 < 0)
zIndex0 = 0;
if (zIndex0 >= static_cast<int>(m_nHeight)-1)
zIndex0 = m_nHeight-2;
// Get the 3d point at the corner of the cell
Vector3 p00((xIndex0 + 0)*m_vScale.x, HEIGHFIELD(zIndex0+0, xIndex0+0), (zIndex0 + 0)*m_vScale.z);
Vector3 p10((xIndex0 + 1)*m_vScale.x, HEIGHFIELD(zIndex0+0, xIndex0+1), (zIndex0 + 0)*m_vScale.z);
Vector3 p11((xIndex0 + 1)*m_vScale.x, HEIGHFIELD(zIndex0+1, xIndex0+1), (zIndex0 + 1)*m_vScale.z);
// Clip line again first triangle
Vector3 e0 = p10 - p00;
Vector3 e1 = p11 - p00;
t = RayCastTriangle(p0, dp, p00, e0, e1);
if (t < 1.0f) {
return t;
}
// Clip line against second triangle
Vector3 p01((xIndex0 + 0)*m_vScale.x, HEIGHFIELD(zIndex0+1, xIndex0+0), (zIndex0 + 1)*m_vScale.z);
Vector3 e2 = p01 - p00;
return RayCastTriangle(p0, dp, p00, e1, e2);
}
TEST(test8, tests)
{
cg::point_2 p11(10, 10);
cg::point_2 p12(0, 0);
cg::point_2 p13(20, 5);
cg::point_2 p2(6, 5);
cg::triangle_2d tr(p11, p12, p13);
ASSERT_EQ(point_inside_triangle(tr, p2), true);
}
TEST(test5, tests)
{
cg::point_2 p11(0, 0);
cg::point_2 p12(10, 0);
cg::point_2 p13(10, 10);
cg::point_2 p2(-10, -10);
cg::triangle_2d tr(p11, p12, p13);
ASSERT_EQ(point_inside_triangle(tr, p2), false);
}
TEST(test13, tests)
{
cg::point_2 p11(0, 0);
cg::point_2 p12(10, 10);
cg::point_2 p21(11, 11);
cg::point_2 p22(12, 12);
cg::segment_2d s1(p11, p12);
cg::segment_2d s2(p21, p22);
ASSERT_EQ(segment_intersect(s1, s2), false);
}
TEST(test9, tests)
{
cg::point_2 p11(0, 0);
cg::point_2 p12(10, 10);
cg::point_2 p21(10, 0);
cg::point_2 p22(0, 10);
cg::segment_2d s1(p11, p12);
cg::segment_2d s2(p21, p22);
ASSERT_EQ(segment_intersect(s1, s2), true);
}
TEST(test8, tests)
{
cg::point_2 p11(1, 1);
cg::point_2 p12(5, 1);
cg::point_2 p21(3, -1);
cg::point_2 p22(3, 0);
cg::segment_2d s1(p11, p12);
cg::segment_2d s2(p21, p22);
ASSERT_EQ(segment_intersect(s1, s2), false);
}
TEST(test6, tests)
{
cg::point_2 p11(1, 1);
cg::point_2 p12(5, 1);
cg::point_2 p21(3, 1);
cg::point_2 p22(3, 4);
cg::segment_2d s1(p11, p12);
cg::segment_2d s2(p21, p22);
ASSERT_EQ(segment_intersect(s1, s2), true);
}
TEST(test1, tests)
{
cg::point_2 p11(0, 0);
cg::point_2 p12(10, 0);
cg::point_2 p13(10, 10);
cg::point_2 p21(3, 3);
cg::point_2 p22(3, 100);
cg::triangle_2d tr(p11, p12, p13);
cg::segment_2d ss(p21, p22);
ASSERT_EQ(triangle_segment_intersect(tr, ss), true);
}
TEST(test7, tests)
{
cg::point_2 p11(20, 10);
cg::point_2 p12(10, 20);
cg::point_2 p13(20, 00);
cg::point_2 p21(0, 100);
cg::point_2 p22(40, 20);
cg::triangle_2d tr(p11, p12, p13);
cg::segment_2d ss(p21, p22);
ASSERT_EQ(triangle_segment_intersect(tr, ss), false);
}
void CRectangle::getchargeL()
{
ptbegin.clear();
ptend.clear();
CVector v1=ptsEnd;
CVector vrx;vrx.getcoorx();
CVector vry;vry.getcoory();
CVector vrz;vrz.getcoorz();
CVector vro;vro.getcooro();
CVector v2=ptbvir.back();
CVector v3=v1-v2;
vrx=vrx*(v3.dot(vrx));
vry=vry*(v3.dot(vry));
CVector v3x=v2+vrx;
CVector v3y=v2+vry;//(v3.dot(vry));
CVector e=v3x+vry;//(v3.dot(vry));
CVector ve1(v1.x,v2.y);
CVector vb1(v2.x,v1.y);
CPoint p11(ptsEnd);
CPoint p22(ptsBegin);
CVector vp11(p11.x,p11.y);
ptbegin.push_back(v2);
ptbegin.push_back(v3x);//p1);
ptbegin.push_back(e);//ptevir.back());
ptbegin.push_back(v3y);//p3);
ptend.push_back(v3x);//p1);
ptend.push_back(e);//ptevir.back());
ptend.push_back(v3y);//p3);
ptend.push_back(v2);
// bez=new CBezier(this);
updatecore();
}
int main(int argc, char *argv[])
{
QGuiApplication app(argc, argv);
QQmlApplicationEngine engine;
Player p1("Emma", 4);
Player p2("Emma", 4);
Player p3("Emma", 4);
Player p4("Emma", 4);
Player p5("Emma", 4);
Player p6("Emma", 4);
Player p7("Emma", 4);
Player p8("Emma", 4);
Player p9("Emma", 4);
Player p10("Emma", 4);
Player p11("Emma", 4);
Player p12("Emma", 4);
Match m(3);
engine.rootContext()->setContextProperty("player1", &p1);
engine.rootContext()->setContextProperty("player2", &p2);
engine.rootContext()->setContextProperty("player3", &p3);
engine.rootContext()->setContextProperty("player4", &p4);
engine.rootContext()->setContextProperty("player5", &p5);
engine.rootContext()->setContextProperty("player6", &p6);
engine.rootContext()->setContextProperty("player7", &p7);
engine.rootContext()->setContextProperty("player8", &p8);
engine.rootContext()->setContextProperty("player9", &p9);
engine.rootContext()->setContextProperty("player10", &p10);
engine.rootContext()->setContextProperty("player11", &p11);
engine.rootContext()->setContextProperty("player12", &p12);
engine.rootContext()->setContextProperty("match", &m);
QCoreApplication::setApplicationName("Lab2");
QCoreApplication::setOrganizationName("EMMA");
QCoreApplication::setOrganizationDomain(".fourThompson");
engine.load(QUrl(QStringLiteral("qrc:/main.qml")));
return app.exec();
}
void setup(MeshType & mesh, viennagrid::hexahedron_tag)
{
typedef typename viennagrid::result_of::point<MeshType>::type PointType;
typedef typename viennagrid::result_of::vertex_handle<MeshType>::type VertexHandleType;
PointType p0(0.0, 0.0, 0.0);
PointType p1(1.0, 0.0, 0.0);
PointType p2(1.0, 1.0, 0.0);
PointType p3(0.0, 1.0, 0.0);
PointType p4(0.0, 0.0, 1.0);
PointType p5(1.0, 0.0, 1.0);
PointType p6(1.0, 1.0, 1.0);
PointType p7(0.0, 1.0, 1.0);
PointType p8(2.0, 0.0, 0.0);
PointType p9(2.0, 1.0, 0.0);
PointType p10(2.0, 0.0, 1.0);
PointType p11(2.0, 1.0, 1.0);
std::cout << "Adding vertices to segment:" << std::endl;
VertexHandleType vh0 = viennagrid::make_vertex( mesh, p0 );
VertexHandleType vh1 = viennagrid::make_vertex( mesh, p1 );
VertexHandleType vh2 = viennagrid::make_vertex( mesh, p2 );
VertexHandleType vh3 = viennagrid::make_vertex( mesh, p3 );
VertexHandleType vh4 = viennagrid::make_vertex( mesh, p4 );
VertexHandleType vh5 = viennagrid::make_vertex( mesh, p5 );
VertexHandleType vh6 = viennagrid::make_vertex( mesh, p6 );
VertexHandleType vh7 = viennagrid::make_vertex( mesh, p7 );
VertexHandleType vh8 = viennagrid::make_vertex( mesh, p8 );
VertexHandleType vh9 = viennagrid::make_vertex( mesh, p9 );
VertexHandleType vh10 = viennagrid::make_vertex( mesh, p10 );
VertexHandleType vh11 = viennagrid::make_vertex( mesh, p11 );
viennagrid::make_hexahedron( mesh, vh0, vh1, vh3, vh2, vh4, vh5, vh7, vh6 );
viennagrid::make_hexahedron( mesh, vh1, vh8, vh2, vh9, vh5, vh10, vh6, vh11 );
}
bool CRectangle::getCharge()
{
if (cancharge)
{
ptbegin.clear();
ptend.clear();
CVector v1=ptevir.back();
CVector vrx;vrx.getcoorx();
CVector vry;vry.getcoory();
CVector vrz;vrz.getcoorz();
CVector vro;vro.getcooro();
CVector v2=ptbvir.back();
CVector v3=v1-v2;
vrx=vrx*(v3.dot(vrx));
vry=vry*(v3.dot(vry));
CVector v3x=v2+vrx;
CVector v3y=v2+vry;//(v3.dot(vry));
CVector e=v3x+vry;//(v3.dot(vry));
CVector ve1(v1.x,v2.y);
CVector vb1(v2.x,v1.y);
CPoint p11(ptevir.back());
CPoint p22(ptbvir.back());
CVector vp11(p11.x,p11.y);
ptbegin.push_back(v2);
ptbegin.push_back(v3x);//p1);
ptbegin.push_back(e);//ptevir.back());
ptbegin.push_back(v3y);//p3);
ptend.push_back(v3x);//p1);
ptend.push_back(e);//ptevir.back());
ptend.push_back(v3y);//p3);
ptend.push_back(v2);
// updatecore();
box.empty();
box.add(v2);
box.add(v3x);
box.add(e);
box.add(v3y);
mesh.empty();
CVector uv=box.getParam(ptbegin[0]);
mesh.addVertex(new CVertex(ptbegin[0],uv.x,uv.y));
uv=box.getParam(ptbegin[1]);
mesh.addVertex(new CVertex(ptbegin[1],uv.x,uv.y));
new CEdge(mesh.Vertex(mesh.Vcount()-2),mesh.Vertex(mesh.Vcount()-1),mesh.Ecount());
uv=box.getParam(ptbegin[2]);
mesh.addVertex(new CVertex(ptbegin[2],uv.x,uv.y));
new CEdge(mesh.Vertex(mesh.Vcount()-2),mesh.Vertex(mesh.Vcount()-1),mesh.Ecount());
uv=box.getParam(ptbegin[3]);
mesh.addVertex(new CVertex(ptbegin[3],uv.x,uv.y));
new CEdge(mesh.Vertex(mesh.Vcount()-2),mesh.Vertex(mesh.Vcount()-1),mesh.Ecount());
new CEdge(mesh.Vertex(mesh.Vcount()-1),mesh.Vertex(mesh.Vcount()-4),mesh.Ecount());
// bez=new CBezier(this);
return cancharge;
}
else
{
return false;
}
}
void BuildTreeDoubleYShape(Node *node[], Tree &tree)
{
const KDL::Vector unitx(1,0,0);
const KDL::Vector unity(0,1,0);
const KDL::Vector unitz(0,0,1);
const KDL::Vector unit1(sqrt(14.0)/8.0, 1.0/8.0, 7.0/8.0);
const KDL::Vector zero = KDL::Vector::Zero();
KDL::Vector p0(0.0f, -1.5f, 0.0f);
KDL::Vector p1(0.0f, -1.0f, 0.0f);
KDL::Vector p2(0.0f, -0.5f, 0.0f);
KDL::Vector p3(0.5f*Root2Inv, -0.5+0.5*Root2Inv, 0.0f);
KDL::Vector p4(0.5f*Root2Inv+0.5f*HalfRoot3, -0.5+0.5*Root2Inv+0.5f*0.5, 0.0f);
KDL::Vector p5(0.5f*Root2Inv+1.0f*HalfRoot3, -0.5+0.5*Root2Inv+1.0f*0.5, 0.0f);
KDL::Vector p6(0.5f*Root2Inv+1.5f*HalfRoot3, -0.5+0.5*Root2Inv+1.5f*0.5, 0.0f);
KDL::Vector p7(0.5f*Root2Inv+0.5f*HalfRoot3, -0.5+0.5*Root2Inv+0.5f*HalfRoot3, 0.0f);
KDL::Vector p8(0.5f*Root2Inv+1.0f*HalfRoot3, -0.5+0.5*Root2Inv+1.0f*HalfRoot3, 0.0f);
KDL::Vector p9(0.5f*Root2Inv+1.5f*HalfRoot3, -0.5+0.5*Root2Inv+1.5f*HalfRoot3, 0.0f);
KDL::Vector p10(-0.5f*Root2Inv, -0.5+0.5*Root2Inv, 0.0f);
KDL::Vector p11(-0.5f*Root2Inv-0.5f*HalfRoot3, -0.5+0.5*Root2Inv+0.5f*HalfRoot3, 0.0f);
KDL::Vector p12(-0.5f*Root2Inv-1.0f*HalfRoot3, -0.5+0.5*Root2Inv+1.0f*HalfRoot3, 0.0f);
KDL::Vector p13(-0.5f*Root2Inv-1.5f*HalfRoot3, -0.5+0.5*Root2Inv+1.5f*HalfRoot3, 0.0f);
KDL::Vector p14(-0.5f*Root2Inv-0.5f*HalfRoot3, -0.5+0.5*Root2Inv+0.5f*0.5, 0.0f);
KDL::Vector p15(-0.5f*Root2Inv-1.0f*HalfRoot3, -0.5+0.5*Root2Inv+1.0f*0.5, 0.0f);
KDL::Vector p16(-0.5f*Root2Inv-1.5f*HalfRoot3, -0.5+0.5*Root2Inv+1.5f*0.5, 0.0f);
node[0] = new Node(p0, unit1, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertRoot(node[0]);
node[1] = new Node(p1, unitx, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[0], node[1]);
node[2] = new Node(p1, unitz, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[1], node[2]);
node[3] = new Node(p2, unitz, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[2], node[3]);
node[4] = new Node(p2, unitz, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertRightSibling(node[3], node[4]);
node[5] = new Node(p3, unity, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[3], node[5]);
node[6] = new Node(p3, unity, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertRightSibling(node[5], node[6]);
node[7] = new Node(p3, unitx, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[5], node[7]);
node[8] = new Node(p4, unitz, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[7], node[8]);
node[9] = new Node(p5, unitx, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[8], node[9]);
node[10] = new Node(p5, unity, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[9], node[10]);
node[11] = new Node(p6, zero, 0.08, EFFECTOR);
tree.InsertLeftChild(node[10], node[11]);
node[12] = new Node(p3, unitx, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[6], node[12]);
node[13] = new Node(p7, unitz, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[12], node[13]);
node[14] = new Node(p8, unitx, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[13], node[14]);
node[15] = new Node(p8, unity, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[14], node[15]);
node[16] = new Node(p9, zero, 0.08, EFFECTOR);
tree.InsertLeftChild(node[15], node[16]);
node[17] = new Node(p10, unity, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[4], node[17]);
node[18] = new Node(p10, unitx, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[17], node[18]);
node[19] = new Node(p10, unity, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertRightSibling(node[17], node[19]);
node[20] = new Node(p11, unitz, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[18], node[20]);
node[21] = new Node(p12, unitx, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[20], node[21]);
node[22] = new Node(p12, unity, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[21], node[22]);
node[23] = new Node(p13, zero, 0.08, EFFECTOR);
tree.InsertLeftChild(node[22], node[23]);
node[24] = new Node(p10, unitx, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[19], node[24]);
node[25] = new Node(p14, unitz, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[24], node[25]);
node[26] = new Node(p15, unitx, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[25], node[26]);
node[27] = new Node(p15, unity, 0.08, JOINT, RADIAN(-180.), RADIAN(180.), RADIAN(30.));
tree.InsertLeftChild(node[26], node[27]);
node[28] = new Node(p16, zero, 0.08, EFFECTOR);
tree.InsertLeftChild(node[27], node[28]);
}
void MSNewton::CurvySlider::submit_constraints(const NewtonJoint* joint, dgFloat32 timestep, int thread_index) {
JointData* joint_data = (JointData*)NewtonJointGetUserData(joint);
CurvySliderData* cj_data = (CurvySliderData*)joint_data->cj_data;
// Calculate position of pivot points and Jacobian direction vectors in global space.
dMatrix matrix0, matrix1, matrix2;
MSNewton::Joint::c_calculate_global_matrix(joint_data, matrix0, matrix1, matrix2);
dVector location = matrix2.UntransformVector(matrix0.m_posit);
dVector point, vector, min_pt, max_pt;
dFloat distance, min_len, max_len;
if (!c_calc_curve_data_at_location(cj_data, location, point, vector, distance, min_pt, max_pt, min_len, max_len)) {
cj_data->cur_data_set = false;
return;
}
point = matrix2.TransformVector(point);
vector = matrix2.RotateVector(vector);
min_pt = matrix2.TransformVector(min_pt);
max_pt = matrix2.TransformVector(max_pt);
cj_data->cur_point = point;
cj_data->cur_vector = vector;
cj_data->cur_tangent = (1.0f - dAbs(vector.m_z) < EPSILON) ? Y_AXIS * vector : Z_AXIS * vector;
cj_data->cur_data_set = true;
dFloat last_pos = cj_data->cur_pos;
dFloat last_vel = cj_data->cur_vel;
if (cj_data->loop) {
dFloat diff1 = distance - cj_data->last_dist;
dFloat diff2 = diff1 + (diff1 > 0 ? -cj_data->curve_len : cj_data->curve_len);
if (dAbs(diff1) < dAbs(diff2))
cj_data->cur_pos += diff1;
else
cj_data->cur_pos += diff2;
}
else
cj_data->cur_pos = distance;
cj_data->cur_vel = (cj_data->cur_pos - last_pos) / timestep;
cj_data->cur_accel = (cj_data->cur_vel - last_vel) / timestep;
cj_data->last_dist = distance;
dMatrix matrix3;
Util::matrix_from_pin_dir(point, vector, matrix3);
const dVector& p0 = matrix0.m_posit;
const dVector& p1 = matrix3.m_posit;
dVector p00(p0 + matrix0.m_right.Scale(MIN_JOINT_PIN_LENGTH));
dVector p11(p1 + matrix3.m_right.Scale(MIN_JOINT_PIN_LENGTH));
// Restrict movement on the pivot point along the normal and bi normal of the path.
NewtonUserJointAddLinearRow(joint, &p0[0], &p1[0], &matrix3.m_front[0]);
if (joint_data->ctype == CT_FLEXIBLE)
NewtonUserJointSetRowSpringDamperAcceleration(joint, Joint::LINEAR_STIFF, Joint::LINEAR_DAMP);
else if (joint_data->ctype == CT_ROBUST)
NewtonUserJointSetRowAcceleration(joint, NewtonUserCalculateRowZeroAccelaration(joint));
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
NewtonUserJointAddLinearRow(joint, &p0[0], &p1[0], &matrix3.m_up[0]);
if (joint_data->ctype == CT_FLEXIBLE)
NewtonUserJointSetRowSpringDamperAcceleration(joint, Joint::LINEAR_STIFF, Joint::LINEAR_DAMP);
else if (joint_data->ctype == CT_ROBUST)
NewtonUserJointSetRowAcceleration(joint, NewtonUserCalculateRowZeroAccelaration(joint));
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
// Align to curve
if (cj_data->align) {
NewtonUserJointAddLinearRow(joint, &p00[0], &p11[0], &matrix3.m_front[0]);
if (joint_data->ctype == CT_ROBUST)
NewtonUserJointSetRowAcceleration(joint, NewtonUserCalculateRowZeroAccelaration(joint));
else
NewtonUserJointSetRowSpringDamperAcceleration(joint, Joint::LINEAR_STIFF, Joint::LINEAR_DAMP);
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
NewtonUserJointAddLinearRow(joint, &p00[0], &p11[0], &matrix3.m_up[0]);
if (joint_data->ctype == CT_ROBUST)
NewtonUserJointSetRowAcceleration(joint, NewtonUserCalculateRowZeroAccelaration(joint));
else
NewtonUserJointSetRowSpringDamperAcceleration(joint, Joint::LINEAR_STIFF, Joint::LINEAR_DAMP);
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
}
// Add linear friction or limits
dFloat min_posit = matrix3.UntransformVector(min_pt).m_z;
dFloat max_posit = matrix3.UntransformVector(max_pt).m_z;
dFloat cur_posit = matrix3.UntransformVector(p0).m_z;
dFloat margin = EPSILON + 0.01f * dAbs(cj_data->cur_vel);
if (cur_posit < min_posit - margin || (cur_posit < min_posit - Joint::LINEAR_LIMIT_EPSILON && dAbs(min_len) < EPSILON && cj_data->loop == false)) {
NewtonUserJointAddLinearRow(joint, &p0[0], &min_pt[0], &matrix3.m_right[0]);
NewtonUserJointSetRowMinimumFriction(joint, 0.0f);
if (joint_data->ctype == CT_FLEXIBLE)
NewtonUserJointSetRowSpringDamperAcceleration(joint, Joint::LINEAR_STIFF, Joint::LINEAR_DAMP);
else if (joint_data->ctype == CT_ROBUST)
NewtonUserJointSetRowAcceleration(joint, NewtonUserCalculateRowZeroAccelaration(joint));
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
}
else if (cur_posit > max_posit + margin || (cur_posit > max_posit + Joint::LINEAR_LIMIT_EPSILON && dAbs(max_len - cj_data->curve_len) < EPSILON && cj_data->loop == false)) {
NewtonUserJointAddLinearRow(joint, &p0[0], &max_pt[0], &matrix3.m_right[0]);
NewtonUserJointSetRowMaximumFriction(joint, 0.0f);
if (joint_data->ctype == CT_FLEXIBLE)
NewtonUserJointSetRowSpringDamperAcceleration(joint, Joint::LINEAR_STIFF, Joint::LINEAR_DAMP);
else if (joint_data->ctype == CT_ROBUST)
NewtonUserJointSetRowAcceleration(joint, NewtonUserCalculateRowZeroAccelaration(joint));
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
}
else {
dVector point(matrix3.UntransformVector(matrix0.m_posit));
point.m_z = 0.0f;
point = matrix3.TransformVector(point);
NewtonUserJointAddLinearRow(joint, &point[0], &matrix3.m_posit[0], &matrix3.m_right[0]);
dFloat power = cj_data->linear_friction * cj_data->controller;
NewtonUserJointSetRowMinimumFriction(joint, -power);
NewtonUserJointSetRowMaximumFriction(joint, power);
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
}
// Add angular friction or limits
if (cj_data->rotate) {
if (cj_data->align) {
NewtonUserJointAddAngularRow(joint, 0.0f, &matrix3.m_right[0]);
dFloat power = cj_data->angular_friction * cj_data->controller;
NewtonUserJointSetRowMinimumFriction(joint, -power);
NewtonUserJointSetRowMaximumFriction(joint, power);
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
}
else {
dFloat cur_cone_angle_cos = matrix0.m_right % cj_data->last_dir;
if (dAbs(cur_cone_angle_cos) < 0.99995f) {
dVector lateral_dir = matrix0.m_right * cj_data->last_dir;
Util::normalize_vector(lateral_dir);
NewtonUserJointAddAngularRow(joint, 0.0f, &lateral_dir[0]);
dFloat power = cj_data->angular_friction * cj_data->controller;
NewtonUserJointSetRowMinimumFriction(joint, -power);
NewtonUserJointSetRowMaximumFriction(joint, power);
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
}
}
}
else if (cj_data->align) {
NewtonUserJointAddAngularRow(joint, Joint::c_calculate_angle(matrix0.m_front, matrix3.m_front, matrix3.m_right), &matrix3.m_right[0]);
if (joint_data->ctype == CT_FLEXIBLE)
NewtonUserJointSetRowSpringDamperAcceleration(joint, Joint::ANGULAR_STIFF, Joint::ANGULAR_DAMP);
else if (joint_data->ctype == CT_ROBUST)
NewtonUserJointSetRowAcceleration(joint, NewtonUserCalculateRowZeroAccelaration(joint));
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
}
else {
// Get a point along the pin axis at some reasonable large distance from the pivot.
dVector q0(p0 + matrix0.m_right.Scale(MIN_JOINT_PIN_LENGTH));
dVector q1(p1 + matrix1.m_right.Scale(MIN_JOINT_PIN_LENGTH));
// Get the ankle point.
dVector r0(p0 + matrix0.m_front.Scale(MIN_JOINT_PIN_LENGTH));
dVector r1(p1 + matrix1.m_front.Scale(MIN_JOINT_PIN_LENGTH));
// Restrict rotation along all three orthonormal directions
NewtonUserJointAddLinearRow(joint, &q0[0], &q1[0], &matrix0.m_front[0]);
if (joint_data->ctype == CT_FLEXIBLE)
NewtonUserJointSetRowSpringDamperAcceleration(joint, Joint::LINEAR_STIFF, Joint::LINEAR_DAMP);
else if (joint_data->ctype == CT_ROBUST)
NewtonUserJointSetRowAcceleration(joint, NewtonUserCalculateRowZeroAccelaration(joint));
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
NewtonUserJointAddLinearRow(joint, &q0[0], &q1[0], &matrix0.m_up[0]);
if (joint_data->ctype == CT_FLEXIBLE)
NewtonUserJointSetRowSpringDamperAcceleration(joint, Joint::LINEAR_STIFF, Joint::LINEAR_DAMP);
else if (joint_data->ctype == CT_ROBUST)
NewtonUserJointSetRowAcceleration(joint, NewtonUserCalculateRowZeroAccelaration(joint));
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
NewtonUserJointAddLinearRow(joint, &r0[0], &r1[0], &matrix0.m_up[0]);
if (joint_data->ctype == CT_FLEXIBLE)
NewtonUserJointSetRowSpringDamperAcceleration(joint, Joint::LINEAR_STIFF, Joint::LINEAR_DAMP);
else if (joint_data->ctype == CT_ROBUST)
NewtonUserJointSetRowAcceleration(joint, NewtonUserCalculateRowZeroAccelaration(joint));
NewtonUserJointSetRowStiffness(joint, joint_data->stiffness);
}
cj_data->last_dir = matrix0.m_right;
}
int main(void){
TriangleCache::TriangleCache TC(50,2);
sm::Point p11(10,10);
sm::Point p12(20,20);
sm::Point p13(30,30);
sm::Point p21(40,40);
sm::Point p22(50,50);
sm::Point p23(60,60);
Triangle t1(&p11, &p12, &p13);
Triangle t2(&p21, &p22, &p23);
GNode gn1(&t1);
GNode gn2(&t2);
GNode gn3(&t2);
GNode gn4(&t2);
GNode gn5(&t1);
GNode gn6(&t1);
const GNode ** path1 = (const GNode **)calloc(3, sizeof(GNode *));
path1[0] = &gn3;
path1[1] = &gn4;
path1[2] = 0;
const GNode ** path = (const GNode **)calloc(3, sizeof(GNode *));
path[0] = &gn1;
path[1] = &gn2;
path[2] = 0;
const GNode ** path2 = (const GNode **)calloc(4, sizeof(GNode *));
path2[0] = &gn5;
path2[1] = &gn3;
path2[2] = &gn6;
path2[3] = 0;
bool f = false;
debugGREEN("TEST FIND WHEN THERE IS NOTHING\n");
const GNode **r = TC.getPath( &gn1, &gn2, f);
ASSERT(!r);
debugRED("OK... \n");
debugGREEN("TEST ADD AND SEARCH ONE ELEMENT\n");
TC.addPath( &gn1, &gn2, path);
const GNode **ret = TC.getPath( &gn1, &gn2, f);
ASSERT(ret);
ASSERT(f);
ASSERT(&gn1 == ret[0]);
ASSERT(&gn2 == ret[1]);
debugRED("OK... \n");
debugGREEN("TEST SEARCH THE SAME ELEMENT BUT IN REVERSE ORDER\n");
ASSERT(TC.getPath( &gn2, &gn1, f));
ASSERT(!f);
debugRED("OK... \n");
debugGREEN("TEST ADD 500000 MORE ELEMENTS gn2-gn1 and look for gn1-gn2 and gn2-gn1\n");
for (int i = 0; i < 50000; i++){
TC.addPath( &gn2, &gn1, path);
}
ASSERT(TC.getPath( &gn1, &gn2, f));
ASSERT(TC.getPath( &gn2, &gn1, f));
debugRED("OK... \n");
debugGREEN("TEST ADD path, then path1, then path2, and then find path 1\n");
TC.addPath( &gn1, &gn2, path);
TC.addPath( &gn3, &gn4, path1);
TC.addPath( &gn5, &gn6, path2);
ASSERT(!TC.getPath( &gn1, &gn2, f));
ASSERT(!TC.getPath( &gn2, &gn1, f));
ASSERT(TC.getPath( &gn4, &gn3, f));
ASSERT(TC.getPath( &gn3, &gn4, f));
ASSERT(TC.getPath( &gn5, &gn6, f));
ASSERT(TC.getPath( &gn6, &gn5, f));
debugRED("OK... \n");
debugGREEN("TEST CLEAR CACHE\n");
TC.clear();
ASSERT(!TC.getPath( &gn1, &gn2, f));
ASSERT(!TC.getPath( &gn2, &gn1, f));
ASSERT(!TC.getPath( &gn4, &gn3, f));
ASSERT(!TC.getPath( &gn3, &gn4, f));
ASSERT(!TC.getPath( &gn5, &gn6, f));
ASSERT(!TC.getPath( &gn6, &gn5, f));
debugRED("OK... \n");
debugGREEN("TEST REFRESHING\n");
TC.addPath( &gn2, &gn1, path);
TC.addPath( &gn3, &gn4, path1);
TC.addPath( &gn2, &gn1, path);
TC.addPath( &gn5, &gn6, path2);
ASSERT(!TC.getPath( &gn4, &gn3, f));
ASSERT(TC.getPath( &gn1, &gn2, f));
ASSERT(TC.getPath( &gn5, &gn6, f));
debugRED("OK... \n");
debugBLUE("END TESTS (ALL OK)\n");
free(path);
free(path1);
free(path2);
return 0;
}
TEST(FloatRectTest, SquaredDistanceToTest)
{
//
// O--x
// |
// y
//
// FloatRect.x() FloatRect.maxX()
// | |
// 1 | 2 | 3
// ======+==========+====== --FloatRect.y()
// 4 | 5(in) | 6
// ======+==========+====== --FloatRect.maxY()
// 7 | 8 | 9
//
FloatRect r1(100, 100, 250, 150);
// `1` case
FloatPoint p1(80, 80);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p1), 800.f);
FloatPoint p2(-10, -10);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p2), 24200.f);
FloatPoint p3(80, -10);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p3), 12500.f);
// `2` case
FloatPoint p4(110, 80);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p4), 400.f);
FloatPoint p5(150, 0);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p5), 10000.f);
FloatPoint p6(180, -10);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p6), 12100.f);
// `3` case
FloatPoint p7(400, 80);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p7), 2900.f);
FloatPoint p8(360, -10);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p8), 12200.f);
// `4` case
FloatPoint p9(80, 110);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p9), 400.f);
FloatPoint p10(-10, 180);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p10), 12100.f);
// `5`(& In) case
FloatPoint p11(100, 100);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p11), 0.f);
FloatPoint p12(150, 100);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p12), 0.f);
FloatPoint p13(350, 100);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p13), 0.f);
FloatPoint p14(350, 150);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p14), 0.f);
FloatPoint p15(350, 250);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p15), 0.f);
FloatPoint p16(150, 250);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p16), 0.f);
FloatPoint p17(100, 250);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p17), 0.f);
FloatPoint p18(100, 150);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p18), 0.f);
FloatPoint p19(150, 150);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p19), 0.f);
// `6` case
FloatPoint p20(380, 150);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p20), 900.f);
// `7` case
FloatPoint p21(80, 280);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p21), 1300.f);
FloatPoint p22(-10, 300);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p22), 14600.f);
// `8` case
FloatPoint p23(180, 300);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p23), 2500.f);
// `9` case
FloatPoint p24(450, 450);
EXPECT_PRED_FORMAT2(GeometryTest::AssertAlmostEqual, r1.squaredDistanceTo(p24), 50000.f);
}
int main(int argc, char **argv)
{
plan_tests(92);
// test constructor
GeoPoint p1(Angle::Degrees(345.32), Angle::Degrees(-6.332));
ok1(p1.IsValid());
ok1(equals(p1, -6.332, 345.32));
// test normalize()
p1.Normalize();
ok1(p1.IsValid());
ok1(equals(p1, -6.332, -14.68));
// test parametric()
GeoPoint p2(Angle::Degrees(2), Angle::Degrees(1));
GeoPoint p3 = p1.Parametric(p2, 5);
ok1(p2.IsValid());
ok1(p3.IsValid());
ok1(equals(p3, -1.332, -4.68));
// test interpolate
GeoPoint p4 = p1.Interpolate(p3, 0.5);
ok1(p4.IsValid());
ok1(equals(p4, -3.832, -9.68));
GeoPoint p5 = p1.Interpolate(p3, 0.25);
ok1(p5.IsValid());
ok1(equals(p5, -5.082, -12.18));
// test *
GeoPoint p6 = p2 * 3.5;
ok1(p6.IsValid());
ok1(equals(p6, 3.5, 7));
// test +
p6 = p6 + p2;
ok1(p6.IsValid());
ok1(equals(p6, 4.5, 9));
// test +=
p6 += p2;
ok1(p6.IsValid());
ok1(equals(p6, 5.5, 11));
// test -
p6 = p6 - p2;
ok1(p6.IsValid());
ok1(equals(p6, 4.5, 9));
// for large and short distance testing
GeoPoint p11(Angle::Degrees(0.00001), Angle::Degrees(0.00001));
GeoPoint p12(Angle::Degrees(179), Angle::Degrees(0));
p11 += p1;
p12 += p1;
ok1(p11.IsValid());
ok1(equals(p11, -6.33199, -14.67999));
ok1(p12.IsValid());
ok1(equals(p12, -6.332, 164.32));
// test sort()
ok1(!p1.Sort(p3));
ok1(p3.Sort(p1));
ok1(!p1.Sort(p4));
ok1(p4.Sort(p1));
ok1(!p1.Sort(p5));
ok1(p5.Sort(p1));
ok1(!p4.Sort(p3));
ok1(p3.Sort(p4));
ok1(!p5.Sort(p3));
ok1(p3.Sort(p5));
ok1(!p5.Sort(p4));
ok1(p4.Sort(p5));
// test distance()
//
// note: distance between p1 and p4 and between p3 and p4 is not
// the same due to linear interpolation instead of real geographic
// intermediate point calculation
ok1(equals(p2.Distance(p6), 869146.334126));
ok1(equals(p6.Distance(p2), 869146.334126));
ok1(equals(p1.Distance(p5), 309506.275043));
ok1(equals(p1.Distance(p4), 619486.719361));
ok1(equals(p1.Distance(p3), 1240403.22926));
ok1(equals(p3.Distance(p4), 620924.169000));
ok1(equals(p1.Distance(p11), 1.561761));
ok1(equals(p1.Distance(p12), 18599361.600));
ok1(equals(p2.DistanceS(p6), 869326.653160));
ok1(equals(p6.DistanceS(p2), 869326.653160));
ok1(equals(p1.DistanceS(p5), 309562.219016));
ok1(equals(p1.DistanceS(p4), 619603.149273));
ok1(equals(p1.DistanceS(p3), 1240649.267606));
ok1(equals(p3.DistanceS(p4), 621053.760625));
ok1(equals(p1.DistanceS(p11), 1.568588));
ok1(equals(p1.DistanceS(p12), 18602548.701));
// test bearing()
//
// note: the bearings p1 -> p5, p5 -> p4 and so on are not the same due to
// linear interpolation instead of real geographic intermediate point
// calculation
ok1(equals(p2.Bearing(p6), 63.425773));
ok1(equals(p6.Bearing(p2), 243.762198));
ok1(equals(p1.Bearing(p5), 63.601900));
ok1(equals(p1.Bearing(p4), 63.735395));
ok1(equals(p1.Bearing(p3), 63.937616));
ok1(equals(p5.Bearing(p4), 63.619712));
ok1(equals(p5.Bearing(p3), 63.799336));
ok1(equals(p4.Bearing(p3), 63.694155));
ok1(equals(p5.Bearing(p6), 66.126880));
ok1(equals(p2.Bearing(p3), 250.886912));
ok1(equals(p2.BearingS(p6), 63.272424));
ok1(equals(p6.BearingS(p2), 243.608847));
ok1(equals(p1.BearingS(p5), 63.449343));
ok1(equals(p1.BearingS(p4), 63.582620));
ok1(equals(p1.BearingS(p3), 63.784526));
ok1(equals(p5.BearingS(p4), 63.466726));
ok1(equals(p5.BearingS(p3), 63.646072));
ok1(equals(p4.BearingS(p3), 63.540756));
ok1(equals(p5.BearingS(p6), 65.982854));
ok1(equals(p2.BearingS(p3), 250.786774));
// test distance_bearing()
// note: should be the same output as bearing() and distance()
GeoVector v = p2.DistanceBearing(p6);
ok1(equals(v.distance, 869146.334126));
ok1(equals(v.bearing, 63.425773));
v = p2.DistanceBearingS(p6);
ok1(equals(v.distance, 869326.653160));
ok1(equals(v.bearing, 63.272424));
// test intermediate_point()
GeoPoint p7(Angle::Zero(), Angle::Zero());
ok1(p7.IsValid());
GeoPoint p8 = p7.IntermediatePoint(p2, 100000);
ok1(p8.IsValid());
ok1(equals(p8, 0.402361, 0.804516));
ok1(equals(p8.Distance(p7), 100000));
GeoPoint p9 = p7.IntermediatePoint(p2, 100000000);
ok1(p9.IsValid());
ok1(equals(p9, p2));
// test projected_distance()
ok1(equals(p8.ProjectedDistance(p7, p2), 100000));
ok1(equals(p4.ProjectedDistance(p1, p3), 619494.517917));
ok1(equals((p2 * 2).ProjectedDistance(p2, p6), 248511.833322));
// Tests moved here from test_fixed.cpp
GeoPoint l1(Angle::Zero(), Angle::Zero());
ok1(l1.IsValid());
GeoPoint l2(Angle::Degrees(-0.3), Angle::Degrees(1.0));
ok1(l2.IsValid());
GeoPoint l3(Angle::Degrees(0.00001), Angle::Zero());
ok1(l3.IsValid());
GeoPoint l4(Angle::Degrees(10), Angle::Zero());
ok1(l4.IsValid());
l4.SetInvalid();
ok1(!l4.IsValid());
bool find_lat_lon_okay = true;
for (Angle bearing = Angle::Zero(); bearing < Angle::FullCircle();
bearing += Angle::Degrees(5)) {
GeoPoint p_test = FindLatitudeLongitude(p1, bearing, 50000);
find_lat_lon_okay = equals(p_test.Distance(p1), 50000) && find_lat_lon_okay;
}
ok1(find_lat_lon_okay);
v = l1.DistanceBearing(l2);
// 116090 @ 343
v = l1.DistanceBearing(l3);
ok(v.distance > 0 && v.distance < 2, "earth distance short", 0);
GeoPoint p10(GeoPoint::Invalid());
ok1(!p10.IsValid());
return exit_status();
}
void LLSurfacePatch::calcNormal(const U32 x, const U32 y, const U32 stride)
{
U32 patch_width = mSurfacep->mPVArray.mPatchWidth;
U32 surface_stride = mSurfacep->getGridsPerEdge();
const F32 mpg = mSurfacep->getMetersPerGrid() * stride;
S32 poffsets[2][2][2];
poffsets[0][0][0] = x - stride;
poffsets[0][0][1] = y - stride;
poffsets[0][1][0] = x - stride;
poffsets[0][1][1] = y + stride;
poffsets[1][0][0] = x + stride;
poffsets[1][0][1] = y - stride;
poffsets[1][1][0] = x + stride;
poffsets[1][1][1] = y + stride;
const LLSurfacePatch *ppatches[2][2];
// LLVector3 p1, p2, p3, p4;
ppatches[0][0] = this;
ppatches[0][1] = this;
ppatches[1][0] = this;
ppatches[1][1] = this;
U32 i, j;
for (i = 0; i < 2; i++)
{
for (j = 0; j < 2; j++)
{
if (poffsets[i][j][0] < 0)
{
if (!ppatches[i][j]->getNeighborPatch(WEST))
{
poffsets[i][j][0] = 0;
}
else
{
poffsets[i][j][0] += patch_width;
ppatches[i][j] = ppatches[i][j]->getNeighborPatch(WEST);
}
}
if (poffsets[i][j][1] < 0)
{
if (!ppatches[i][j]->getNeighborPatch(SOUTH))
{
poffsets[i][j][1] = 0;
}
else
{
poffsets[i][j][1] += patch_width;
ppatches[i][j] = ppatches[i][j]->getNeighborPatch(SOUTH);
}
}
if (poffsets[i][j][0] >= (S32)patch_width)
{
if (!ppatches[i][j]->getNeighborPatch(EAST))
{
poffsets[i][j][0] = patch_width - 1;
}
else
{
poffsets[i][j][0] -= patch_width;
ppatches[i][j] = ppatches[i][j]->getNeighborPatch(EAST);
}
}
if (poffsets[i][j][1] >= (S32)patch_width)
{
if (!ppatches[i][j]->getNeighborPatch(NORTH))
{
poffsets[i][j][1] = patch_width - 1;
}
else
{
poffsets[i][j][1] -= patch_width;
ppatches[i][j] = ppatches[i][j]->getNeighborPatch(NORTH);
}
}
}
}
LLVector3 p00(-mpg,-mpg,
*(ppatches[0][0]->mDataZ
+ poffsets[0][0][0]
+ poffsets[0][0][1]*surface_stride));
LLVector3 p01(-mpg,+mpg,
*(ppatches[0][1]->mDataZ
+ poffsets[0][1][0]
+ poffsets[0][1][1]*surface_stride));
LLVector3 p10(+mpg,-mpg,
*(ppatches[1][0]->mDataZ
+ poffsets[1][0][0]
+ poffsets[1][0][1]*surface_stride));
LLVector3 p11(+mpg,+mpg,
*(ppatches[1][1]->mDataZ
+ poffsets[1][1][0]
+ poffsets[1][1][1]*surface_stride));
LLVector3 c1 = p11 - p00;
LLVector3 c2 = p01 - p10;
LLVector3 normal = c1;
normal %= c2;
normal.normVec();
*(mDataNorm + surface_stride * y + x) = normal;
}
cv::Mat TestProjection::test(double userX, double userY, double userZ,
const char* filename) {
//Coordinates of the projection in the real world
/*cv::Point3f p11(-480, 735, -420);
cv::Point3f p12(0, 935, 0);
cv::Point3f p13(0, 220, 0);
cv::Point3f p14(-480, 240, -420);
Plane3d proj1(p11, p12, p13, p14);
cv::Point3f p21(0, 935, 0);
cv::Point3f p22(480, 735, -420);
cv::Point3f p23(480, 240, -420);
cv::Point3f p24(0, 220, 0);
Plane3d proj2(p21, p22, p23, p24);*/
cv::Point3f p11(-590, 725, -350);
cv::Point3f p12(0, 955, 0);
cv::Point3f p13(0, 200, 0);
cv::Point3f p14(-590, 227, -350);
Plane3d proj1(p11, p12, p13, p14);
cv::Point3f p21(0, 955, 0);
cv::Point3f p22(567, 755, -350);
cv::Point3f p23(567, 227, -350);
cv::Point3f p24(0, 200, 0);
Plane3d proj2(p21, p22, p23, p24);
std::vector<Plane3d> planes;
planes.push_back(proj1);
planes.push_back(proj2);
Projection proj(planes);
// proj.print();
//Create the user with the obtained projection coordinates
User u(proj);
//Update his position
u.updatePosition(userX, userY, userZ);
// u.print();
//Create the distorted-corrected plane pairs, using the projections
//on the user's view plane
//Plane 1
//****************************************************************************************************
Plane2d p1 = u.getProjectedPlanes().at(0).to2d();
Plane2d p2(cv::Point2f(0, 0), cv::Point2f(480, 0), cv::Point2f(480, 540), cv::Point2f(0, 540));
// Plane2d p2(cv::Point2f(0, 0), cv::Point2f(230, 0), cv::Point2f(230, 520), cv::Point2f(0, 520));
// Plane2d p2(cv::Point2f(0, 0), cv::Point2f(270, 0), cv::Point2f(270, 405), cv::Point2f(0, 405));
//****************************************************************************************************
//Invert the plane y coordinates
Plane2d inv1 = p1.yInverted();
//Move it so that it's closer to the target plane
cv::Vec2f dist = pjs::distance(inv1, p2);
Plane2d pp1(cv::Point2f(inv1.getPoint(0).x - dist[0], inv1.getPoint(0).y - dist[1]),
cv::Point2f(inv1.getPoint(1).x - dist[0], inv1.getPoint(1).y - dist[1]),
cv::Point2f(inv1.getPoint(2).x - dist[0], inv1.getPoint(2).y - dist[1]),
cv::Point2f(inv1.getPoint(3).x - dist[0], inv1.getPoint(3).y - dist[1]));
//Plane 2
//****************************************************************************************************
Plane2d p3 = u.getProjectedPlanes().at(1).to2d();
Plane2d p4(cv::Point2f(0, 0), cv::Point2f(480, 0), cv::Point2f(480, 540), cv::Point2f(0, 540));
// Plane2d p4(cv::Point2f(0, 0), cv::Point2f(230, 0), cv::Point2f(230, 520), cv::Point2f(0, 520));
// Plane2d p4(cv::Point2f(0, 0), cv::Point2f(270, 0), cv::Point2f(270, 405), cv::Point2f(0, 405));
//****************************************************************************************************
//Invert the plane y coordinates
Plane2d inv2 = p3.yInverted();
//Move it so that it's closer to the target plane
dist = pjs::distance(inv2, p4);
Plane2d pp3(cv::Point2f(inv2.getPoint(0).x - dist[0], inv2.getPoint(0).y - dist[1]),
cv::Point2f(inv2.getPoint(1).x - dist[0], inv2.getPoint(1).y - dist[1]),
cv::Point2f(inv2.getPoint(2).x - dist[0], inv2.getPoint(2).y - dist[1]),
cv::Point2f(inv2.getPoint(3).x - dist[0], inv2.getPoint(3).y - dist[1]));
//***********************
//Load the target image
//***********************
cv::Mat img = cv::imread(filename, CV_LOAD_IMAGE_COLOR);
if (!img.data) {
std::cout << " --(!) Error reading image" << std::endl;
throw std::exception();
}
//Helper object
Utils utils;
//Divide the image in two
// std::vector<cv::Mat> images = utils.divideImageInTwo(img);
//Build the surfaces with their reference planes and their corresponding
//image
Surface s1(pp1, p2);
Surface s2(pp3, p4);
std::vector<Surface*> surfaces;
surfaces.push_back(&s1);
surfaces.push_back(&s2);
int originX;
int padding;
int screenWidth = 1280;
int screenHeight = 800;
//TODO recursive position correction
int width1 = s1.getWidth();
int width2 = s2.getWidth();
int diffW = width1 - width2;
if (diffW < 0) {
originX = screenWidth / 2 - width1;
padding = 0;
} else {
originX = 0 + screenWidth / 2 - width1;
padding = 0;
}
//1st position correction
cv::Point2f origin(originX, 0);
s1.correctBBPosition(origin);
cv::Point2f s1ur = s1.getUpperRightCorner();
s2.correctPosition(s1ur);
cv::Point2f upperLeft = s2.getUpperLeftCorner();
cv::Point2f upperRight = s2.getUpperRightCorner();
double topY;
if (upperLeft.y < upperRight.y) {
topY = upperLeft.y;
} else {
topY = upperRight.y;
}
cv::Size size = utils.getFinalSize(surfaces);
int diffH = screenHeight - size.height;
//2nd position correction if necessary (if second plane is still outside)
if (!topY < 0) {
topY = 0;
}
cv::Point2f newOrigin(originX, -topY + diffH / 2);
s1.correctBBPosition(newOrigin);
s1ur = s1.getUpperRightCorner();
s2.correctPosition(s1ur);
// cv::Size size = utils.getFinalSize(surfaces);
size.width += padding;
size.width = std::max(screenWidth, size.width);
size.height = screenHeight;
cv::Size sizeS1(size.width / 2, size.height);
s1.setSize(sizeS1);
s2.setSize(size);
std::vector<cv::Mat> images = utils.divideImageInTwo(img);
s1.setImage(images.at(0));
s2.setImage(images.at(1));
s1.applyHomography();
s2.applyHomography();
// s1.addTransparency();
// s2.addTransparency();
cv::Mat finalImage = utils.getImageFromSurfaces(surfaces);
surfaces.clear();
return finalImage;
}
void onInitialization( ) {
glViewport(0, 0, screenWidth, screenHeight);
srand(42);
Mat gold;
gold.ka=Color(0.24725, 0.1995, 0.0745);
gold.kd=Color(0.75164, 0.60648, 0.22648);
gold.ks=Color(0.628281, 0.555802, 0.366065);
gold.shine=0.4 * 128;
gold.n=Color(0.17, 0.35, 1.5);
gold.k=Color(3.1, 2.7, 1.9);
gold.reflective=true;
gold.refractive=false;
Mat brown;
brown.ka=Color(0.1,0.1,0.1);
brown.kd=Color(0.58, 0.294, 0);
brown.ks=Color(0,0,0);
brown.shine=0;
brown.reflective=false;
brown.refractive=false;
double gn=1.5;
Mat glass;
glass.ka=Color(0.1,0.1,0.1);
glass.kd=Color(0.2,0.2,0.2);
glass.ks=Color(1,1,1);
glass.shine=120;
glass.reflective=true;
glass.refractive=true;
glass.n=Color(gn,gn,gn);
glass.k=Color(0,0,0);
Mat glass2=glass;
glass2.n=Color(1/gn, 1/gn, 1/gn);
add(new Sphere(glass2, Vector(0,0,0), 0.4));
add(new Torus(gold, 0.25, 0.1));
double z=-0.65;
Vector p00(-2,-2,z);
Vector p10(2,-2,z);
Vector p01(-2,2,z);
Vector p11(2,2,z);
Vector n(0,0,1);
add(new Triangle(brown, p00, p10, p01, n,n,n));
add(new Triangle(brown, p11, p01, p10, n,n,n));
int cube[12][3][3]={
{
{-1, -1, -1},
{1, -1, -1},
{1, -1, 1}
},
{
{-1, -1, 1},
{-1, -1, -1},
{1, -1, 1}
},
{
{-1, 1, -1},
{1, 1, 1},
{1, 1, -1}
},
{
{-1, 1, 1},
{1, 1, 1},
{-1, 1, -1}
},
{
{-1, -1, -1},
{-1, 1, 1},
{-1, 1, -1}
},
{
{-1, 1, 1},
{-1, -1, -1},
{-1, -1, 1}
},
{
{1, -1, -1},
{1, 1, -1},
{1, 1, 1}
},
{
{1, 1, 1},
{1, -1, 1},
{1, -1, -1}
},
{
{-1, 1, -1},
{1, 1, -1},
{-1, -1, -1}
},
{
{1, -1, -1},
{-1, -1, -1},
{1, 1, -1}
},
{
{-1, 1, 1},
{-1, -1, 1},
{1, 1, 1},
},
{
{1, -1, 1},
{1, 1, 1},
{-1, -1, 1}
}};
double a=0.5,b=0.5,c=0.5;
for(int i=0;i<12;i++){
Vector p1(cube[i][0][0]*a, cube[i][0][1]*b, cube[i][0][2]*c);
Vector p2(cube[i][1][0]*a, cube[i][1][1]*b, cube[i][1][2]*c);
Vector p3(cube[i][2][0]*a, cube[i][2][1]*b, cube[i][2][2]*c);
Vector n=((p2-p1)%(p3-p1)).unit();
add(new Triangle(glass, p1, p2, p3, n, n, n));
}
gen(phLim);
render();
tone();
for(int i=0;i<objSize;i++){
delete obj[i];
}
}
/**
@SYMTestCaseID SYSLIB-SQL-CT-1628
@SYMTestCaseDesc GetFirstSqlStmt() test
Tests the GetFirstSqlStmt() behaviour with a set of various SQL statements.
@SYMTestPriority High
@SYMTestActions GetFirstSqlStmt() test
@SYMTestExpectedResults Test must not fail
@SYMREQ REQ5792
REQ5793
*/
void TestGetFirstSqlStmt()
{
TPtrC res;
TBuf<1> b2; b2.Append(TChar(0));
TPtr p2(PTR_ARG(b2));
res.Set(GetFirstSqlStmt(p2));
//Expected result: res = "\x0", p2 is NULL
TEST(res == b2);
TEST(!p2.Ptr());
TBuf<2> b3; b3.Append(TChar(' ')); b3.Append(TChar(0));
TPtr p3(PTR_ARG(b3));
res.Set(GetFirstSqlStmt(p3));
//Expected result: res = " \x0", p3 is NULL
TEST(res == b3);
TEST(!p3.Ptr());
TBuf<7> b4(_L(";; ; ")); b4.Append(TChar(0));
TPtr p4(PTR_ARG(b4));
res.Set(GetFirstSqlStmt(p4));
//Expected result: res = "\x0", p4 = "; ; \x0"
TEST(res.Length() == 1 && (TInt)res[0] == 0);
TInt accLen = res.Length();
TEST(p4 == b4.Right(b4.Length() - accLen));
res.Set(GetFirstSqlStmt(p4));
//Expected result: res = "\x0", p4 = " ; \x0"
TEST(res.Length() == 1 && (TInt)res[0] == 0);
accLen += res.Length();
TEST(p4 == b4.Right(b4.Length() - accLen));
res.Set(GetFirstSqlStmt(p4));
//Expected result: res = " \x0", p4 = " \x0"
TEST((TInt)res[0] == (TInt)TChar(' ') && (TInt)res[1] == 0);
accLen += res.Length();
TEST(p4 == b4.Right(b4.Length() - accLen));
res.Set(GetFirstSqlStmt(p4));
//Expected result: res = " \x0", p4 is NULL
TEST((TInt)res[0] == (TInt)TChar(' ') && (TInt)res[1] == (TInt)TChar(' ') && (TInt)res[2] == 0);
TEST(!p4.Ptr());
TBuf<20> b5(_L("SELECT * FROM A")); b5.Append(TChar(0));
TPtr p5(PTR_ARG(b5));
res.Set(GetFirstSqlStmt(p5));
//Expected result: res = "SELECT * FROM A\x0", p5 is NULL
TEST(res == b5);
TEST(!p5.Ptr());
TBuf<20> b6(_L("SELECT * FROM A;")); b6.Append(TChar(0));
TPtr p6(PTR_ARG(b6));
res.Set(GetFirstSqlStmt(p6));
//Expected result: res = "SELECT * FROM A\x0", p6 = "\x0"
TEST(res == b6.Left(b6.Length() - 1));
TEST(p6.Length() == 1 && p6[0] == 0);
TBuf<40> b7(_L("/** Comment */ SELECT * FROM A;")); b7.Append(TChar(0));
TPtr p7(PTR_ARG(b7));
res.Set(GetFirstSqlStmt(p7));
//Expected result: res = "/** Comment */ SELECT * FROM A\x0", p7 = "\x0"
TEST(res == b7.Left(b7.Length() - 1));
TEST(p7.Length() == 1 && p7[0] == 0);
TBuf<40> b8(_L(" SELECT * FROM --Comment \r\n A;")); b8.Append(TChar(0));
TPtr p8(PTR_ARG(b8));
res.Set(GetFirstSqlStmt(p8));
//Expected result: res = " SELECT * FROM --Comment \r\n A\x0", p8 = "\x0"
TEST(res == b8.Left(b8.Length() - 1));
TEST(p8.Length() == 1 && p8[0] == 0);
TBuf<40> b9(_L("SELECT * FROM A; SELECT * FROM B")); b9.Append(TChar(0));
TPtr p9(PTR_ARG(b9));
res.Set(GetFirstSqlStmt(p9));
//Expected result: res = "SELECT * FROM A\x0", p9 = " SELECT * FROM B\x0"
TEST(res.Left(res.Length() - 1) == b9.Left(res.Length() - 1) && (TInt)res[res.Length() - 1] == 0);
accLen = res.Length();
TEST(p9 == b9.Right(b9.Length() - accLen));
res.Set(GetFirstSqlStmt(p9));
//Expected result: res = " SELECT * FROM B\x0", p9 is NULL
TEST(res == b9.Right(b9.Length() - accLen));
TEST(!p9.Ptr());
//Defect INC113060
TBuf<255> b10(_L("UPDATE Playlist SET Name=';',Time='2007-09-20 12:31:33' WHERE UniqueId=640397473"));
TPtr p10(PTR_ARG(b10));
res.Set(GetFirstSqlStmt(p10));
//Expected results: res= original string
TEST(res.Compare(b10)==0);
TEST(!p10.Ptr());
TBuf<255> firstStmt(_L("SELECT * FROM PlayList"));firstStmt.Append(TChar(0));
TBuf<255> b11(_L("SELECT * FROM PlayList;UPDATE Playlist SET Name=';',Time='2007-09-20 12:31:33' WHERE UniqueId=640397473"));
TPtr p11(PTR_ARG(b11));
res.Set(GetFirstSqlStmt(p11));
TEST(res.Compare(firstStmt)==0);
TEST(p11.Compare(b10)==0);
}
void test_RT()
{
typedef RT Cls;
// _test_cls_regular_3( Cls() );
typedef traits::Bare_point Point;
typedef traits::Weighted_point Weighted_point;
typedef typename Cls::Vertex_handle Vertex_handle;
typedef typename Cls::Cell_handle Cell_handle;
typedef typename Cls::Facet Facet;
typedef typename Cls::Edge Edge;
typedef std::list<Weighted_point> list_point;
typedef typename Cls::Finite_cells_iterator Finite_cells_iterator;
// temporary version
int n, m;
int count = 0;
// For dimension 0, we need to check that the point of highest weight is the
// one that finally ends up in the vertex.
std::cout << " test dimension 0 " << std::endl;
Cls T0;
T0.insert(Weighted_point( Point (0,0,0), 0) );
T0.insert(Weighted_point( Point (0,0,0), 1) );
T0.insert(Weighted_point( Point (0,0,0), -1) );
assert(T0.dimension() == 0);
assert(T0.number_of_vertices() == 1);
assert(T0.finite_vertices_begin()->point().weight() == 1);
std::cout << " test dimension 1 " << std::endl;
Cls T1;
std::cout << " number of inserted points : " ;
Weighted_point p[5];
for ( m=0; m<5; m++) {
if ( (m%2)== 0 )
p[m] = Weighted_point( Point( 2*m,0,0 ), 2 );
else
p[m] = Weighted_point( Point( -2*m+1,0,0 ), 2 );
T1.insert( p[m] );
count++;
if (count <10)
std::cout << count << '\b' ;
else
if (count < 100)
std::cout << count << '\b' << '\b' ;
else
std::cout << count << '\b' << '\b' << '\b' ;
std::cout.flush();
}
assert( T1.is_valid() );
std::cout << std::endl << " number of vertices : "
<< T1.number_of_vertices() << std::endl;
std::cout << " number of inserted points : " ;
Weighted_point q[5];
for ( m=0; m<5; m++) {
if ( (m%2)== 0 )
q[m] = Weighted_point( Point( 2*m+1,0,0 ), 5 );
else
q[m] = Weighted_point( Point( -2*m+1,0,0 ), 5 );
T1.insert( q[m] );
count++;
if (count <10)
std::cout << count << '\b' ;
else
if (count < 100)
std::cout << count << '\b' << '\b' ;
else
std::cout << count << '\b' << '\b' << '\b' ;
std::cout.flush();
}
assert( T1.is_valid() );
std::cout << std::endl << " number of vertices : "
<< T1.number_of_vertices() << std::endl;
std::cout << " number of inserted points : " ;
Weighted_point r[10];
for ( m=0; m<10; m++) {
if ( (m%2)== 0 )
r[m] = Weighted_point( Point( m,0,0 ), 1 );
else
r[m] = Weighted_point( Point( -m,0,0 ), 1 );
T1.insert( r[m] );
count++;
if (count <10)
std::cout << count << '\b' ;
else
if (count < 100)
std::cout << count << '\b' << '\b' ;
else
std::cout << count << '\b' << '\b' << '\b' ;
std::cout.flush();
}
assert( T1.is_valid() );
std::cout << std::endl << " number of vertices : "
<< T1.number_of_vertices() << std::endl;
assert( T1.dimension()==1 );
// The following is distilled from a bug report by Wulue Zhao
// ([email protected]), a student of Tamal Dey.
Point pt0(0,0,0);
Point pt1( 1,0,0), pt2(2,0,0), pt3(3,0,0);
Point pt4(-1,0,0), pt5(-2,0,0), pt6(-3,0,0);
Weighted_point wp0(pt0,10.0);
Weighted_point wp1(pt1,0.0), wp2(pt2,0.0), wp3(pt3,0.0);
Weighted_point wp4(pt4,0.0), wp5(pt5,0.0), wp6(pt6,0.0);
Cls T11;
T11.insert(wp0);
T11.insert(wp1);
T11.insert(wp2);
T11.insert(wp3);
T11.insert(wp4);
T11.insert(wp5);
T11.insert(wp6);
assert(T11.is_valid());
// And another distilled bug report from the same guy.
{
Point p1(-0.07, 0.04, 0.04);
Point p2(0.09, 0.04, 0.04);
Point p3(0.09, -0.05, 0.04);
Point p4(0.05, -0.05, 0.04);
Point p5(0.05, 0.0, 0.04);
Point p6(-0.07, 0.0, 0.04);
Point p7(-0.07, 0.04, -0.04);
Point p8(0.09, 0.04, -0.04);
Point p9(0.09, -0.05, -0.04);
Point p10(0.05, -0.05, -0.04);
Point p11(0.05, 0.0, -0.04);
Point p12(-0.07, 0.0, -0.04);
Weighted_point wp1(p1,0);
Weighted_point wp2(p2,0);
Weighted_point wp3(p3,0);
Weighted_point wp4(p4,0);
Weighted_point wp5(p5,0);
Weighted_point wp6(p6,0);
Weighted_point wp7(p7,0);
Weighted_point wp8(p8,0);
Weighted_point wp9(p9,0);
Weighted_point wp10(p10,0);
Weighted_point wp11(p11,0);
Weighted_point wp12(p12,0);
Weighted_point wp13(p3,0.3); // wp13 has the same coordinates with wp3
Cls T111;
T111.insert(wp1);
T111.insert(wp2);
T111.insert(wp3);
T111.insert(wp13); // it doesnot work inserting wp13 here
T111.insert(wp4);
T111.insert(wp5);
T111.insert(wp6);
T111.insert(wp7);
T111.insert(wp8);
T111.insert(wp9);
T111.insert(wp10);
T111.insert(wp11);
T111.insert(wp12);
assert(T111.is_valid());
}
std::cout << " test dimension 2 " << std::endl;
std::cout << " number of inserted points : " ;
Cls T2;
count = 0 ;
int px=1, py=1;
int qx=-1, qy=2;
Weighted_point s[400];
for (m=0; m<10; m++)
for (n=0; n<10; n++) {
s[m+20*n] = Weighted_point( Point(m*px+n*qx, m*py+n*qy, 0), 1 );
T2.insert( s[m+20*n] );
count++;
if (count <10)
std::cout << count << '\b' ;
else
if (count < 100)
std::cout << count << '\b' << '\b' ;
else
std::cout << count << '\b' << '\b' << '\b' ;
std::cout.flush();
}
for (m=10; m<20; m++)
for (n=0; n<10; n++) {
s[m+20*n] = Weighted_point( Point(m*px+n*qx, m*py+n*qy, 0), -1 );
T2.insert( s[m+20*n] );
count++;
if (count <10)
std::cout << count << '\b' ;
else
if (count < 100)
std::cout << count << '\b' << '\b' ;
else
std::cout << count << '\b' << '\b' << '\b' ;
std::cout.flush();
}
for (m=0; m<10; m++)
for (n=10; n<20; n++) {
s[m+20*n] = Weighted_point( Point(m*px+n*qx, m*py+n*qy, 0), -2 );
T2.insert( s[m+20*n] );
count++;
if (count <10)
std::cout << count << '\b' ;
else
if (count < 100)
std::cout << count << '\b' << '\b' ;
else
std::cout << count << '\b' << '\b' << '\b' ;
std::cout.flush();
}
for (m=10; m<20; m++)
for (n=10; n<20; n++) {
s[m+20*n] = Weighted_point( Point(m*px+n*qx, m*py+n*qy, 0), 5 );
T2.insert( s[m+20*n] );
count++;
if (count <10)
std::cout << count << '\b' ;
else
if (count < 100)
std::cout << count << '\b' << '\b' ;
else
std::cout << count << '\b' << '\b' << '\b' ;
std::cout.flush();
}
std::cout << std::endl << " number of vertices : "
<< T2.number_of_vertices() << std::endl;
assert( T2.dimension()==2 );
assert( T2.is_valid() );
// dimension 3
std::cout << " test dimension 3" << std::endl;
Cls T;
list_point lp;
int a, b, d;
for (a=0;a!=10;a++)
// for (b=0;b!=10;b++)
for (b=0;b!=5;b++)
// for (d=0;d!=10;d++)
for (d=0;d!=5;d++)
lp.push_back(Weighted_point( Point(a*b-d*a + (a-b)*10 +a ,
a-b+d +5*b,
a*a-d*d+b),
a*b-a*d) );
list_point::iterator it;
count = 0 ;
std::cout << " number of inserted points : " ;
for (it=lp.begin(); it!=lp.end(); ++it){
count++;
T.insert(*it);
if (count <10)
std::cout << count << '\b' ;
else
if (count < 100)
std::cout << count << '\b' << '\b' ;
else
if (count < 1000)
std::cout << count << '\b' << '\b' << '\b' ;
else
std::cout << count << std::endl;
std::cout.flush();
}
std::cout << std::endl;
std::cout << " number of vertices : "
<< T.number_of_vertices() << std::endl;
assert(T.is_valid());
assert(T.dimension()==3);
T.clear();
std::cout << " test iterator range insert" << std::endl;
T.insert (lp.begin(), lp.end());
std::cout << " number of vertices : "
<< T.number_of_vertices() << std::endl;
assert(T.is_valid());
assert(T.dimension()==3);
//test nearest_power_vertex
std::cout << " test nearest_power_vertex " << std::endl;
Point pp1(0.0, 0.0, 0.0);
Point pp2(1.0, 0.0, 0.0);
Point pp3(0.0, 1.0, 0.0);
Point pp4(0.0, 0.0, 1.0);
Point pp5(1.0, 1.0, 0.0);
Point pp6(0.0, 1.0, 1.0);
Point pp7(1.0, 0.0, 1.0);
Point pp8(1.0, 1.0, 1.0);
Weighted_point wpp1(pp1, 1.0);
Weighted_point wpp2(pp2, 2.0);
Weighted_point wpp3(pp3, 1.0);
Weighted_point wpp4(pp4, 4.0);
Weighted_point wpp5(pp5, 1.0);
Weighted_point wpp6(pp6, 1.0);
Weighted_point wpp7(pp7, 1.0);
Weighted_point wpp8(pp8, 8.0);
Cls T3;
T3.insert(wpp1);
Vertex_handle v2 = T3.insert(wpp2);
assert( T3.nearest_power_vertex(Point(0.5,0.5,0.5)) == v2);
T3.insert(wpp3);
Vertex_handle v4 = T3.insert(wpp4);
assert( T3.nearest_power_vertex(Point(0.5,0.5,0.5)) == v4);
T3.insert(wpp5);
T3.insert(wpp6);
T3.insert(wpp7);
// Avoid inserting the same point twice, now that hidden points are handled,
// insert (existing_point) returns Vertex_handle().
// T3.insert(wpp8);
Vertex_handle v8 = T3.insert(wpp8);
Point query(0.5,0.5,0.5);
assert(T3.nearest_power_vertex(query) == v8);
assert(T3.nearest_power_vertex(Weighted_point(query,1.0)) == v8 );
assert(T3.nearest_power_vertex_in_cell(query ,v8->cell()) == v8);
// test dual
std::cout << " test dual member functions" << std::endl;
Finite_cells_iterator fcit = T3.finite_cells_begin();
for( ; fcit != T3.finite_cells_end(); ++fcit) {
Point cc = T3.dual(fcit);
Vertex_handle ncc = T3.nearest_power_vertex(cc);
assert(fcit->has_vertex(ncc));
}
// test Gabriel
std::cout << " test is_Gabriel " << std::endl;
Point q0(0.,0.,0.);
Point q1(2.,0.,0.);
Point q2(0.,2.,0.);
Point q3(0.,0.,2.);
Weighted_point wq0(q0,0.);
Weighted_point wq1(q1,0.);
Weighted_point wq2(q2,0.);
Weighted_point wq3(q3,0.);
Weighted_point wq01(q0,2.);
Cls T4;
Vertex_handle v0 = T4.insert(wq0);
Vertex_handle v1 = T4.insert(wq1);
v2 = T4.insert(wq2);
Vertex_handle v3 = T4.insert(wq3);
Cell_handle c;
int i,j,k,l;
assert(T4.is_facet(v0,v1,v2,c,j,k,l));
i = 6 - (j+k+l);
Facet f = std::make_pair(c,i);
assert(T4.is_Gabriel(c,i));
assert(T4.is_Gabriel(f));
assert(T4.is_facet(v1,v2,v3,c,j,k,l));
i = 6 - (j+k+l);
assert(!T4.is_Gabriel(c,i));
assert(T4.is_edge(v0,v1,c,i,j));
assert(T4.is_Gabriel(c,i,j));
Edge e = make_triple(c,i,j);
assert(T4.is_Gabriel(e));
assert(T4.is_edge(v2,v3,c,i,j));
assert(T4.is_Gabriel(c,i,j));
Vertex_handle v01 = T4.insert(wq01);
(void) v01; // kill warning
assert(T4.is_edge(v2,v3,c,i,j));
assert(!T4.is_Gabriel(c,i,j));
Weighted_point wwq0(q0,0.);
Weighted_point wwq1(q1,0.);
Weighted_point wwq2(q2,0.);
Weighted_point wwq3(q3,5.);
Cls T5;
v0 = T5.insert(wwq0);
v1 = T5.insert(wwq1);
v2 = T5.insert(wwq2);
v3 = T5.insert(wwq3);
assert(T5.nearest_power_vertex(v3->point().point()) == v3);
assert(T5.nearest_power_vertex(v0->point().point()) == v3);
assert(T5.is_Gabriel(v3));
assert(!T5.is_Gabriel(v0));
}
void CContainers::prepareMemBuffers()
{
memout=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p("!data",memout);
memmap.insert(p);
memout_words=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p2("!!!words",memout_words);
memmap.insert(p2);
memout_letters=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p3("!!letters",memout_letters);
memmap.insert(p3);
memout_num=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p4("!num",memout_num);
memmap.insert(p4);
memout_year=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p5("!year",memout_year);
memmap.insert(p5);
memout_date=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p6("!date",memout_date);
memmap.insert(p6);
memout_words2=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p7("!!!words2",memout_words2);
memmap.insert(p7);
memout_words3=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p8("!!!words3",memout_words3);
memmap.insert(p8);
memout_words4=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p9("!!!words4",memout_words4);
memmap.insert(p9);
memout_pages=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p10("!pages",memout_pages);
memmap.insert(p10);
memout_num2=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p11("!num2",memout_num2);
memmap.insert(p11);
memout_num3=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p12("!num3",memout_num3);
memmap.insert(p12);
memout_num4=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p13("!num4",memout_num4);
memmap.insert(p13);
memout_remain=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p14("!remain",memout_remain);
memmap.insert(p14);
memout_date2=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p15("!date2",memout_date2);
memmap.insert(p15);
memout_date3=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p16("!date3",memout_date3);
memmap.insert(p16);
memout_num2b=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p17("!num2b",memout_num2b);
memmap.insert(p17);
memout_num3b=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p18("!num3b",memout_num3b);
memmap.insert(p18);
memout_num4b=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p19("!num4b",memout_num4b);
memmap.insert(p19);
memout_numb=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p20("!numb",memout_numb);
memmap.insert(p20);
memout_num2c=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p21("!num2c",memout_num2c);
memmap.insert(p21);
memout_num3c=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p22("!num3c",memout_num3c);
memmap.insert(p22);
memout_num4c=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p23("!num4c",memout_num4c);
memmap.insert(p23);
memout_numc=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p24("!numc",memout_numc);
memmap.insert(p24);
memout_time=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p25("!time",memout_time);
memmap.insert(p25);
memout_remain2=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p26("!remain2",memout_remain2);
memmap.insert(p26);
memout_ip=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p27("!ip",memout_ip);
memmap.insert(p27);
memout_hm=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p28("!hm",memout_hm);
memmap.insert(p28);
memout_hms=new CMemoryBuffer();
std::pair<std::string,CMemoryBuffer*> p29("!hms",memout_hms);
memmap.insert(p29);
}
void Polyhedron_triangulation::extract_CAT()
{
std::for_each(cat_cells.begin(), cat_cells.end(), std::mem_fun_ref(&std::list<CAT_facet>::clear));
int *tetra_vtx_ptr = tetra_mesh.tetrahedronlist;
int *marker = tetra_mesh.pointmarkerlist;
REAL *pnt_tbl = tetra_mesh.pointlist;
std::function<Point_3(int)> cgal_pnt = [=](int idx) { return Point_3(pnt_tbl[idx*3], pnt_tbl[idx*3+1], pnt_tbl[idx*3+2]); };
for (int i = 0; i < tetra_mesh.numberoftetrahedra; i++, tetra_vtx_ptr += 4)
{
std::set<int> group_no;
std::multimap<int, int> group_no_vidx;
typedef std::multimap<int, int>::const_iterator Iter;
for (int j = 0; j < 4; j++)
{
int vid = tetra_vtx_ptr[j];
int gid = marker[vid];
group_no.insert(gid);
group_no_vidx.insert(std::make_pair(gid, vid));
}
if (group_no.size() == 2)
{
std::set<int>::const_iterator gid0 = group_no.begin(), gid1 = group_no.begin();
++gid1;
if (group_no_vidx.count(*gid0) == 1 && group_no_vidx.count(*gid1) == 3)
{
std::pair<Iter, Iter> i0 = group_no_vidx.equal_range(*gid0);
std::pair<Iter, Iter> i1 = group_no_vidx.equal_range(*gid1);
std::list<Point_3> mid_tri;
for (Iter it = i1.first; it != i1.second; ++it)
mid_tri.push_back(CGAL::midpoint(cgal_pnt(i0.first->second), cgal_pnt(it->second)));
if (*gid0 >= 0)
cat_cells[*gid0].push_back(CAT_facet(cgal_pnt(i0.first->second), mid_tri));
if (*gid1 >= 0)
for (Iter it = i1.first; it != i1.second; ++it)
cat_cells[*gid1].push_back(CAT_facet(cgal_pnt(it->second), mid_tri));
}
else if (group_no_vidx.count(*gid0) == 3 && group_no_vidx.count(*gid1) == 1)
{
std::pair<Iter, Iter> i0 = group_no_vidx.equal_range(*gid0);
std::pair<Iter, Iter> i1 = group_no_vidx.equal_range(*gid1);
std::list<Point_3> mid_tri;
for (Iter it = i0.first; it != i0.second; ++it)
mid_tri.push_back(CGAL::midpoint(cgal_pnt(i1.first->second), cgal_pnt(it->second)));
if (*gid1 >= 0)
cat_cells[*gid1].push_back(CAT_facet(cgal_pnt(i1.first->second), mid_tri));
if (*gid0 >= 0)
for (Iter it = i0.first; it != i0.second; ++it)
cat_cells[*gid0].push_back(CAT_facet(cgal_pnt(it->second), mid_tri));
}
else
{
std::pair<Iter, Iter> i0 = group_no_vidx.equal_range(*gid0);
std::pair<Iter, Iter> i1 = group_no_vidx.equal_range(*gid1);
Iter it = i0.first;
Point_3 p00(cgal_pnt(it->second));
++it;
Point_3 p01(cgal_pnt(it->second));
it = i1.first;
Point_3 p10(cgal_pnt(it->second));
++it;
Point_3 p11(cgal_pnt(it->second));
Point_3 midpnt[4] = {CGAL::midpoint(p00, p10), CGAL::midpoint(p00, p11), CGAL::midpoint(p01, p10), CGAL::midpoint(p01, p11)};
std::list<Point_3> mid_pm; // the middle parallelogram
mid_pm.push_back(midpnt[0]);
mid_pm.push_back(midpnt[1]);
if (Vector_3(midpnt[0], midpnt[1])*Vector_3(midpnt[2], midpnt[3]) < 0)
{
mid_pm.push_back(midpnt[2]);
mid_pm.push_back(midpnt[3]);
}
else
{
mid_pm.push_back(midpnt[3]);
mid_pm.push_back(midpnt[2]);
}
if (*gid0 >= 0)
{
cat_cells[*gid0].push_back(CAT_facet(p00, mid_pm));
cat_cells[*gid0].push_back(CAT_facet(p01, mid_pm));
}
if (*gid1 >= 0)
{
cat_cells[*gid1].push_back(CAT_facet(p10, mid_pm));
cat_cells[*gid1].push_back(CAT_facet(p11, mid_pm));
}
}
}
else if (group_no.size() == 3)
{
// the two vertices in the same group
int smgp[2];
// the two vertices in the other two different groups
int dfgp[2];
int gi, gj, gk;
std::vector< std::pair<int, int> > tmpv(group_no_vidx.begin(), group_no_vidx.end());
if (tmpv[0].first == tmpv[1].first)
{
smgp[0] = tmpv[0].second; smgp[1] = tmpv[1].second; gi = tmpv[0].first;
dfgp[0] = tmpv[2].second; dfgp[1] = tmpv[3].second; gj = tmpv[2].first; gk = tmpv[3].first;
}
else if (tmpv[1].first == tmpv[2].first)
{
smgp[0] = tmpv[1].second; smgp[1] = tmpv[2].second; gi = tmpv[1].first;
dfgp[0] = tmpv[0].second; dfgp[1] = tmpv[3].second; gj = tmpv[0].first; gk = tmpv[3].first;
}
else
{
smgp[0] = tmpv[2].second; smgp[1] = tmpv[3].second; gi = tmpv[2].first;
dfgp[0] = tmpv[0].second; dfgp[1] = tmpv[1].second; gj = tmpv[0].first; gk = tmpv[1].first;
}
Point_3 pi[2] = {cgal_pnt(smgp[0]), cgal_pnt(smgp[1])};
Point_3 pj(cgal_pnt(dfgp[0])), pk(cgal_pnt(dfgp[1]));
Point_3 tri_cent[2] = {CGAL::centroid(pi[0], pj, pk), CGAL::centroid(pi[1], pj, pk)};
Point_3 edge_mid[5] = {CGAL::midpoint(pi[0], pj), CGAL::midpoint(pi[0], pk),
CGAL::midpoint(pi[1], pj), CGAL::midpoint(pi[1], pk),
CGAL::midpoint(pj, pk)};
//std::list<Point_3> quad_i0i1j, quad_i0i1k, tri_i0i1jk;
std::array<Point_3, 4> quad_i0i1j = {edge_mid[0], edge_mid[2], tri_cent[1], tri_cent[0]};
std::array<Point_3, 4> quad_i0i1k = {edge_mid[1], edge_mid[3], tri_cent[1], tri_cent[0]};
std::array<Point_3, 3> tri_i0i1jk = {edge_mid[4], tri_cent[1], tri_cent[0]};
if (gi >= 0)
{
cat_cells[gi].push_back(CAT_facet(pi[0], quad_i0i1j.begin(), quad_i0i1j.end()));
cat_cells[gi].push_back(CAT_facet(pi[0], quad_i0i1k.begin(), quad_i0i1k.end()));
cat_cells[gi].push_back(CAT_facet(pi[1], quad_i0i1j.begin(), quad_i0i1j.end()));
cat_cells[gi].push_back(CAT_facet(pi[1], quad_i0i1k.begin(), quad_i0i1k.end()));
}
if (gj >= 0)
{
cat_cells[gj].push_back(CAT_facet(pj, quad_i0i1j.begin(), quad_i0i1j.end()));
cat_cells[gj].push_back(CAT_facet(pj, tri_i0i1jk.begin(), tri_i0i1jk.end()));
}
if (gk >= 0)
{
cat_cells[gk].push_back(CAT_facet(pk, quad_i0i1k.begin(), quad_i0i1k.end()));
cat_cells[gk].push_back(CAT_facet(pk, tri_i0i1jk.begin(), tri_i0i1jk.end()));
}
}
else if (group_no.size() == 4)
{
std::array<Point_3, 4> vs;
std::array<int, 4> groupid;
for (int j = 0; j < 4; j++)
{
vs[j] = cgal_pnt(tetra_vtx_ptr[j]);
groupid[j] = marker[tetra_vtx_ptr[j]];
}
Point_3 tetra_cent = CGAL::centroid(vs.begin(), vs.end(), CGAL::Dimension_tag<0>());
for (int j = 0; j < 4; j++)
{
if (groupid[j] < 0)
continue;
for (int k = 0; k < 4; k++)
{
if (j == k)
continue;
for (int l = 0; l < 4; l++)
{
if (l == j || l == k)
continue;
Point_3 mpnt = CGAL::midpoint(vs[j], vs[k]);
int m;
for (m = 0; m < 4; m++)
if (m != j && m != k && m != l)
break;
Point_3 tri_cent[2] = { CGAL::centroid(vs[j], vs[k], vs[l]), CGAL::centroid(vs[j], vs[k], vs[m]) };
std::list<Point_3> tri;
tri.push_back(mpnt);
tri.push_back(tri_cent[0]);
tri.push_back(tri_cent[1]);
cat_cells[groupid[j]].push_back(CAT_facet(vs[j], tri));
tri.pop_front();
tri.push_back(tetra_cent);
cat_cells[groupid[j]].push_back(CAT_facet(vs[j], tri));
}
}
}
}
}
}
int main()
{
Point p1(-253.357, -123.36);
Point p2(-190.03, 216.606);
Point p3(-343.349, 286.6);
Point p4(141.604, 279.934);
Point p5(276.591, -46.7012);
Point p6(251.593, -263.347);
Point p7(-3.38184, -343.339);
Point p8(-380.012, -173.355);
Point p9(-98.3726, 39.957);
Point p10(133.271, 124.949);
Point p11(289.923, 301.598);
Point p12(421.577, 23.292);
Point p13(79.9434, -93.3633);
Point p14(-40.0449, 366.592);
Point p15(311.587, 374.924);
Point p16(431.576, 214.94);
Point p17(426.576, -131.693);
Point p18(-265.023, -285.011);
Point p19(369.915, 89.9521);
Point p20(368.249, -15.0376);
Point p21(484.904, 18.2925);
Point p22(-411.675, 283.267);
Point p23(-250.024, 124.949);
Point p24(-80.041, -78.3647);
Point p25(-360.014, 31.6245);
Point p26(-305.019, 356.593);
// built Delaunay triangulation
PS.insert(p1); PS.insert(p2); PS.insert(p3); PS.insert(p4);
PS.insert(p5); PS.insert(p6); PS.insert(p7); PS.insert(p8);
PS.insert(p9); PS.insert(p10); PS.insert(p11); PS.insert(p12);
PS.insert(p13); PS.insert(p14); PS.insert(p15); PS.insert(p16);
PS.insert(p17); PS.insert(p18); PS.insert(p19); PS.insert(p20);
PS.insert(p21); PS.insert(p22); PS.insert(p23); PS.insert(p24);
PS.insert(p25); PS.insert(p26);
std::list<Vertex_handle> LV;
bool correct = true;
// circle emptiness check
Circle cs1(Point(-23.3799, 108.284), 1124.78);
check_empty checker(cs1);
CGAL::range_search(PS,cs1,std::back_inserter(LV),checker,true);
if (checker.get_result()) {
std::cout << "circle not empty !\n";
std::cout << "this is an error !\n"; correct=false;
}
else std::cout << "circle was empty !\n";
Circle cs2(Point(-255.024, -100.029), 23551);
check_empty checker2(cs2);
CGAL::range_search(PS,cs2,std::back_inserter(LV),checker2,true);
if (checker2.get_result()) std::cout << "circle not empty !\n";
else {
std::cout << "circle was empty !\n";
std::cout << "this is an error !\n"; correct=false;
}
// triangle check
Triangle t1(Point(-21.7134, -123.36), Point(84.9429, 74.9536), Point(209.931, -161.69));
Triangle t2(Point(-61.7095, 164.945), Point(-88.3735, 101.618), Point(49.9463, 101.618));
check_empty_triangle tchecker1(t1);
CGAL::range_search(PS,t1.vertex(0),t1.vertex(1),t1.vertex(2),std::back_inserter(LV),tchecker1,true);
if (tchecker1.get_result()) std::cout << "triangle not empty !\n";
else {
std::cout << "triangle was empty !\n";
std::cout << "this is an error !\n"; correct=false;
}
check_empty_triangle tchecker2(t2);
CGAL::range_search(PS,t2.vertex(0),t2.vertex(1),t2.vertex(2),std::back_inserter(LV),tchecker2,true);
if (tchecker2.get_result()) {
std::cout << "triangle not empty !\n";
std::cout << "this is an error !\n"; correct=false;
}
else std::cout << "triangle was empty !\n";
// rectangle check
Rectangle_2 r1(-290.021, -175.022, -125.037, -35.0356);
Rectangle_2 r2(-48.3774, 136.614, -23.3799, 251.603);
check_empty_rectangle rchecker1(r1);
CGAL::range_search(PS,r1.vertex(0),r1.vertex(1),r1.vertex(2),r1.vertex(3),std::back_inserter(LV),rchecker1,true);
if (rchecker1.get_result()) std::cout << "rectangle not empty !\n";
else {
std::cout << "rectangle was empty !\n";
std::cout << "this is an error !\n"; correct=false;
}
check_empty_rectangle rchecker2(r2);
CGAL::range_search(PS,r2.vertex(0),r2.vertex(1),r2.vertex(2),r2.vertex(3),std::back_inserter(LV),rchecker2,true);
if (rchecker2.get_result()) {
std::cout << "rectangle not empty !\n";
std::cout << "this is an error !\n"; correct=false;
}
else std::cout << "rectangle was empty !\n";
if (correct) return 0;
return 1;
}
