void Bumper::GenerateSocketMesh(Vertex3D_NoTex2 *buf)
{
const float scalexy = m_d.m_radius*2.0f;
for (int i = 0; i < bumperSocketNumVertices; i++)
{
Vertex3Ds vert(bumperSocket[i].x, bumperSocket[i].y, bumperSocket[i].z);
vert = m_fullMatrix.MultiplyVector(vert);
buf[i].x = vert.x*scalexy + m_d.m_vCenter.x;
buf[i].y = vert.y*scalexy + m_d.m_vCenter.y;
// scale z by 0.6 to make the skirt a bit more flat
buf[i].z = (0.6f*vert.z*m_d.m_heightScale)*m_ptable->m_BG_scalez[m_ptable->m_BG_current_set] + m_baseHeight;
vert = Vertex3Ds(bumperSocket[i].nx, bumperSocket[i].ny, bumperSocket[i].nz);
vert = m_fullMatrix.MultiplyVectorNoTranslate(vert);
buf[i].nx = vert.x;
buf[i].ny = vert.y;
buf[i].nz = vert.z;
buf[i].tu = bumperSocket[i].tu;
buf[i].tv = bumperSocket[i].tv;
}
}
/* Loads a curve from a ".vert" file, which is constructed as such:
* 2 //First line is the number of vec3f's to read (call this 'n')
* 1.0 1.0 1.0 // Second line is always the colour to render the curve
* -1.0 1.0 0.0 // The remaining n -1 lines are the vertices of the curve
*/
void FileHelper::loadCurveFromFile(const char* file, Renderable & curve){
char buffer[50];
FILE* fp;
int numPoints;
fp = fopen(file, "r");
fgets(buffer, 50, fp);
numPoints = atoi(buffer);
std::vector<Vec3f> verts;
for(int i = 0; i < numPoints; i++){
float temp1, temp2, temp3;
fgets(buffer, 50, fp);
sscanf(buffer, "%f %f %f\n", &temp1, &temp2, &temp3);
Vec3f vert(temp1, temp2, temp3);
// First point is the colour
if(i == 0)
{
curve.setColour(vert);
}
// Remaining points are the vertices
else
{
verts.push_back(vert);
}
}
curve.setVerts(verts);
fclose(fp);
printf("Loaded %s!\n", file);
}
double start(FILE* in){
double f, R, t, r, g; //f : 파리 반지름, R : 라켓 바깥 반지름, t : 라켓 두께, r : 줄 두께, g : 줄 간격
double s; //누적
fscanf(in, "%lf", &f);
fscanf(in, "%lf", &R);
fscanf(in, "%lf", &t);
fscanf(in, "%lf", &r);
fscanf(in, "%lf", &g);
if(2*f >= g) { //gap이 좁을 경우 종료
return 1.0;
}
t = t + f; // 유효면적(?)
r = r + f;
g = g - 2*f;
coordinate d;
d.x = r;
d.y = r;
s = 0;
while(d.y*d.y + d.x*d.x < (R-t)*(R-t)){
s += vert(d, f, R, t, r, g);
d.x += g+2*r;
d.y += g+2*r;
}
s *= 8;
return 1.0-s/(acos(-1)*R*R);
}
bool CPath::getShape(CGeomProxy* geomObj[1],CShape* shapeObj[1])
{
bool retVal=false;
if (_shapingEnabled&&(_pathShapeVertices.size()!=0))
{
std::vector<float> vert(_pathShapeVertices);
C7Vector tr(getCumulativeTransformation());
for (int i=0;i<int(vert.size()/3);i++)
{
C3Vector v(&vert[3*i]);
v=tr*v;
vert[3*i+0]=v(0);
vert[3*i+1]=v(1);
vert[3*i+2]=v(2);
}
std::vector<int> ind(_pathShapeIndices);
geomObj[0]=new CGeomProxy(NULL,vert,ind,NULL,NULL);
shapeObj[0]=new CShape();
shapeObj[0]->setLocalTransformation(geomObj[0]->getCreationTransformation());
geomObj[0]->setCreationTransformation(C7Vector::identityTransformation);
retVal=true;
}
return(retVal);
}
int AssimpScene::uncompress_recursive_old(float * arr, float arr_size, float vertex_size, int arr_index_start, const aiScene * sc, const aiNode * nd, aiMatrix4x4 * matrix_before)
{
aiMatrix4x4 m = (*matrix_before) * nd->mTransformation;
int arr_index = arr_index_start;
int count_vertex = 0; //combined sum is returned at the end
for (int n = 0; n < nd->mNumMeshes; ++n) {
const aiMesh* mesh = sc->mMeshes[nd->mMeshes[n]];
for (int t = 0; t < mesh->mNumFaces; ++t) {
const struct aiFace* face = &mesh->mFaces[t];
bool isNormal = mesh->mNormals != NULL;
for (int i = 0; i < face->mNumIndices; i++) {
count_vertex++;
int index = face->mIndices[i];
aiVector3D
vert(m*mesh->mVertices[index]),
normal((isNormal)? aiVector3D (mesh->mNormals[index]): aiVector3D());
adjust_scene_roperty(vert.x, vert.y, vert.z);
arr[arr_index] = vert.x;
arr[arr_index + 1] = vert.y;
arr[arr_index + 2] = vert.z;
arr[arr_index + 3] = normal.x;
arr[arr_index + 4] = normal.y;
arr[arr_index + 5] = normal.z;
arr_index += vertex_size;
}
}
}
for (int n = 0; n < nd->mNumChildren; ++n) {
count_vertex += uncompress_recursive_old(arr, arr_size, vertex_size, arr_index, sc, nd, &m);
}
return count_vertex;
}
int code_one(struct zint_symbol *symbol, unsigned char source[], int length)
{
int size = 1, i, j, data_blocks;
char datagrid[136][120];
int row, col;
int sub_version = 0;
if((symbol->option_2 < 0) || (symbol->option_2 > 10)) {
strcpy(symbol->errtxt, "Invalid symbol size");
return ERROR_INVALID_OPTION;
}
if(symbol->option_2 == 9) {
/* Version S */
int codewords;
short int elreg[112];
unsigned int data[15], ecc[15];
int stream[30];
int block_width;
if(length > 18) {
strcpy(symbol->errtxt, "Input data too long");
return ERROR_TOO_LONG;
}
if(is_sane(NEON, source, length) == ERROR_INVALID_DATA) {
strcpy(symbol->errtxt, "Invalid input data (Version S encodes numeric input only)");
return ERROR_INVALID_DATA;
}
sub_version = 3; codewords = 12; block_width = 6; /* Version S-30 */
if(length <= 12) { sub_version = 2; codewords = 8; block_width = 4; } /* Version S-20 */
if(length <= 6) { sub_version = 1; codewords = 4; block_width = 2; } /* Version S-10 */
binary_load(elreg, (char *)source, length);
hex_dump(elreg);
for(i = 0; i < 15; i++) {
data[i] = 0;
ecc[i] = 0;
}
for(i = 0; i < codewords; i++) {
data[codewords - i - 1] += 1 * elreg[(i * 5)];
data[codewords - i - 1] += 2 * elreg[(i * 5) + 1];
data[codewords - i - 1] += 4 * elreg[(i * 5) + 2];
data[codewords - i - 1] += 8 * elreg[(i * 5) + 3];
data[codewords - i - 1] += 16 * elreg[(i * 5) + 4];
}
rs_init_gf(0x25);
rs_init_code(codewords, 1);
rs_encode_long(codewords, data, ecc);
rs_free();
for(i = 0; i < codewords; i++) {
stream[i] = data[i];
stream[i + codewords] = ecc[codewords - i - 1];
}
for(i = 0; i < 136; i++) {
for(j = 0; j < 120; j++) {
datagrid[i][j] = '0';
}
}
i = 0;
for(row = 0; row < 2; row++) {
for(col = 0; col < block_width; col++) {
if(stream[i] & 0x10) { datagrid[row * 2][col * 5] = '1'; }
if(stream[i] & 0x08) { datagrid[row * 2][(col * 5) + 1] = '1'; }
if(stream[i] & 0x04) { datagrid[row * 2][(col * 5) + 2] = '1'; }
if(stream[i] & 0x02) { datagrid[(row * 2) + 1][col * 5] = '1'; }
if(stream[i] & 0x01) { datagrid[(row * 2) + 1][(col * 5) + 1] = '1'; }
if(stream[i + 1] & 0x10) { datagrid[row * 2][(col * 5) + 3] = '1'; }
if(stream[i + 1] & 0x08) { datagrid[row * 2][(col * 5) + 4] = '1'; }
if(stream[i + 1] & 0x04) { datagrid[(row * 2) + 1][(col * 5) + 2] = '1'; }
if(stream[i + 1] & 0x02) { datagrid[(row * 2) + 1][(col * 5) + 3] = '1'; }
if(stream[i + 1] & 0x01) { datagrid[(row * 2) + 1][(col * 5) + 4] = '1'; }
i += 2;
}
}
size = 9;
symbol->rows = 8;
symbol->width = 10 * sub_version + 1;
}
if(symbol->option_2 == 10) {
/* Version T */
unsigned int data[40], ecc[25];
unsigned int stream[65];
int data_length;
int data_cw, ecc_cw, block_width;
for(i = 0; i < 40; i++) { data[i] = 0; }
data_length = c1_encode(symbol, source, data, length);
if(data_length == 0) {
return ERROR_TOO_LONG;
}
if(data_length > 38) {
strcpy(symbol->errtxt, "Input data too long");
return ERROR_TOO_LONG;
}
size = 10;
sub_version = 3; data_cw = 38; ecc_cw = 22; block_width = 12;
if(data_length <= 24) { sub_version = 2; data_cw = 24; ecc_cw = 16; block_width = 8; }
if(data_length <= 10) { sub_version = 1; data_cw = 10; ecc_cw = 10; block_width = 4; }
for(i = data_length; i < data_cw; i++) {
data[i] = 129; /* Pad */
}
/* Calculate error correction data */
rs_init_gf(0x12d);
rs_init_code(ecc_cw, 1);
rs_encode_long(data_cw, data, ecc);
rs_free();
/* "Stream" combines data and error correction data */
for(i = 0; i < data_cw; i++) {
stream[i] = data[i];
}
for(i = 0; i < ecc_cw; i++) {
stream[data_cw + i] = ecc[ecc_cw - i - 1];
}
for(i = 0; i < 136; i++) {
for(j = 0; j < 120; j++) {
datagrid[i][j] = '0';
}
}
i = 0;
for(row = 0; row < 5; row++) {
for(col = 0; col < block_width; col++) {
if(stream[i] & 0x80) { datagrid[row * 2][col * 4] = '1'; }
if(stream[i] & 0x40) { datagrid[row * 2][(col * 4) + 1] = '1'; }
if(stream[i] & 0x20) { datagrid[row * 2][(col * 4) + 2] = '1'; }
if(stream[i] & 0x10) { datagrid[row * 2][(col * 4) + 3] = '1'; }
if(stream[i] & 0x08) { datagrid[(row * 2) + 1][col * 4] = '1'; }
if(stream[i] & 0x04) { datagrid[(row * 2) + 1][(col * 4) + 1] = '1'; }
if(stream[i] & 0x02) { datagrid[(row * 2) + 1][(col * 4) + 2] = '1'; }
if(stream[i] & 0x01) { datagrid[(row * 2) + 1][(col * 4) + 3] = '1'; }
i++;
}
}
symbol->rows = 16;
symbol->width = (sub_version * 16) + 1;
}
if((symbol->option_2 != 9) && (symbol->option_2 != 10)) {
/* Version A to H */
unsigned int data[1500], ecc[600];
unsigned int sub_data[190], sub_ecc[75];
unsigned int stream[2100];
int data_length;
for(i = 0; i < 1500; i++) { data[i] = 0; }
data_length = c1_encode(symbol, source, data, length);
if(data_length == 0) {
return ERROR_TOO_LONG;
}
for(i = 7; i >= 0; i--) {
if(c1_data_length[i] >= data_length) {
size = i + 1;
}
}
if(symbol->option_2 > size) {
size = symbol->option_2;
}
for(i = data_length; i < c1_data_length[size - 1]; i++) {
data[i] = 129; /* Pad */
}
/* Calculate error correction data */
data_length = c1_data_length[size - 1];
for(i = 0; i < 190; i++) { sub_data[i] = 0; }
for(i = 0; i < 75; i++) { sub_ecc[i] = 0; }
data_blocks = c1_blocks[size - 1];
rs_init_gf(0x12d);
rs_init_code(c1_ecc_blocks[size - 1], 0);
for(i = 0; i < data_blocks; i++) {
for(j = 0; j < c1_data_blocks[size - 1]; j++) {
sub_data[j] = data[j * data_blocks + i];
}
rs_encode_long(c1_data_blocks[size - 1], sub_data, sub_ecc);
for(j = 0; j < c1_ecc_blocks[size - 1]; j++) {
ecc[c1_ecc_length[size - 1] - (j * data_blocks + i) - 1] = sub_ecc[j];
}
}
rs_free();
/* "Stream" combines data and error correction data */
for(i = 0; i < data_length; i++) {
stream[i] = data[i];
}
for(i = 0; i < c1_ecc_length[size - 1]; i++) {
stream[data_length + i] = ecc[i];
}
for(i = 0; i < 136; i++) {
for(j = 0; j < 120; j++) {
datagrid[i][j] = '0';
}
}
i = 0;
for(row = 0; row < c1_grid_height[size - 1]; row++) {
for(col = 0; col < c1_grid_width[size - 1]; col++) {
if(stream[i] & 0x80) { datagrid[row * 2][col * 4] = '1'; }
if(stream[i] & 0x40) { datagrid[row * 2][(col * 4) + 1] = '1'; }
if(stream[i] & 0x20) { datagrid[row * 2][(col * 4) + 2] = '1'; }
if(stream[i] & 0x10) { datagrid[row * 2][(col * 4) + 3] = '1'; }
if(stream[i] & 0x08) { datagrid[(row * 2) + 1][col * 4] = '1'; }
if(stream[i] & 0x04) { datagrid[(row * 2) + 1][(col * 4) + 1] = '1'; }
if(stream[i] & 0x02) { datagrid[(row * 2) + 1][(col * 4) + 2] = '1'; }
if(stream[i] & 0x01) { datagrid[(row * 2) + 1][(col * 4) + 3] = '1'; }
i++;
}
}
/* for(i = 0; i < (c1_grid_height[size - 1] * 2); i++) {
for(j = 0; j < (c1_grid_width[size - 1] * 4); j++) {
printf("%c", datagrid[i][j]);
}
printf("\n");
} */
symbol->rows = c1_height[size - 1];
symbol->width = c1_width[size - 1];
}
switch(size) {
case 1: /* Version A */
central_finder(symbol, 6, 3, 1);
vert(symbol, 4, 6, 1);
vert(symbol, 12, 5, 0);
set_module(symbol, 5, 12);
spigot(symbol, 0);
spigot(symbol, 15);
block_copy(symbol, datagrid, 0, 0, 5, 4, 0, 0);
block_copy(symbol, datagrid, 0, 4, 5, 12, 0, 2);
block_copy(symbol, datagrid, 5, 0, 5, 12, 6, 0);
block_copy(symbol, datagrid, 5, 12, 5, 4, 6, 2);
break;
case 2: /* Version B */
central_finder(symbol, 8, 4, 1);
vert(symbol, 4, 8, 1);
vert(symbol, 16, 7, 0);
set_module(symbol, 7, 16);
spigot(symbol, 0);
spigot(symbol, 21);
block_copy(symbol, datagrid, 0, 0, 7, 4, 0, 0);
block_copy(symbol, datagrid, 0, 4, 7, 16, 0, 2);
block_copy(symbol, datagrid, 7, 0, 7, 16, 8, 0);
block_copy(symbol, datagrid, 7, 16, 7, 4, 8, 2);
break;
case 3: /* Version C */
central_finder(symbol, 11, 4, 2);
vert(symbol, 4, 11, 1);
vert(symbol, 26, 13, 1);
vert(symbol, 4, 10, 0);
vert(symbol, 26, 10, 0);
spigot(symbol, 0);
spigot(symbol, 27);
block_copy(symbol, datagrid, 0, 0, 10, 4, 0, 0);
block_copy(symbol, datagrid, 0, 4, 10, 20, 0, 2);
block_copy(symbol, datagrid, 0, 24, 10, 4, 0, 4);
block_copy(symbol, datagrid, 10, 0, 10, 4, 8, 0);
block_copy(symbol, datagrid, 10, 4, 10, 20, 8, 2);
block_copy(symbol, datagrid, 10, 24, 10, 4, 8, 4);
break;
case 4: /* Version D */
central_finder(symbol, 16, 5, 1);
vert(symbol, 4, 16, 1);
vert(symbol, 20, 16, 1);
vert(symbol, 36, 16, 1);
vert(symbol, 4, 15, 0);
vert(symbol, 20, 15, 0);
vert(symbol, 36, 15, 0);
spigot(symbol, 0);
spigot(symbol, 12);
spigot(symbol, 27);
spigot(symbol, 39);
block_copy(symbol, datagrid, 0, 0, 15, 4, 0, 0);
block_copy(symbol, datagrid, 0, 4, 15, 14, 0, 2);
block_copy(symbol, datagrid, 0, 18, 15, 14, 0, 4);
block_copy(symbol, datagrid, 0, 32, 15, 4, 0, 6);
block_copy(symbol, datagrid, 15, 0, 15, 4, 10, 0);
block_copy(symbol, datagrid, 15, 4, 15, 14, 10, 2);
block_copy(symbol, datagrid, 15, 18, 15, 14, 10, 4);
block_copy(symbol, datagrid, 15, 32, 15, 4, 10, 6);
break;
case 5: /* Version E */
central_finder(symbol, 22, 5, 2);
vert(symbol, 4, 22, 1);
vert(symbol, 26, 24, 1);
vert(symbol, 48, 22, 1);
vert(symbol, 4, 21, 0);
vert(symbol, 26, 21, 0);
vert(symbol, 48, 21, 0);
spigot(symbol, 0);
spigot(symbol, 12);
spigot(symbol, 39);
spigot(symbol, 51);
block_copy(symbol, datagrid, 0, 0, 21, 4, 0, 0);
block_copy(symbol, datagrid, 0, 4, 21, 20, 0, 2);
block_copy(symbol, datagrid, 0, 24, 21, 20, 0, 4);
block_copy(symbol, datagrid, 0, 44, 21, 4, 0, 6);
block_copy(symbol, datagrid, 21, 0, 21, 4, 10, 0);
block_copy(symbol, datagrid, 21, 4, 21, 20, 10, 2);
block_copy(symbol, datagrid, 21, 24, 21, 20, 10, 4);
block_copy(symbol, datagrid, 21, 44, 21, 4, 10, 6);
break;
case 6: /* Version F */
central_finder(symbol, 31, 5, 3);
vert(symbol, 4, 31, 1);
vert(symbol, 26, 35, 1);
vert(symbol, 48, 31, 1);
vert(symbol, 70, 35, 1);
vert(symbol, 4, 30, 0);
vert(symbol, 26, 30, 0);
vert(symbol, 48, 30, 0);
vert(symbol, 70, 30, 0);
spigot(symbol, 0);
spigot(symbol, 12);
spigot(symbol, 24);
spigot(symbol, 45);
spigot(symbol, 57);
spigot(symbol, 69);
block_copy(symbol, datagrid, 0, 0, 30, 4, 0, 0);
block_copy(symbol, datagrid, 0, 4, 30, 20, 0, 2);
block_copy(symbol, datagrid, 0, 24, 30, 20, 0, 4);
block_copy(symbol, datagrid, 0, 44, 30, 20, 0, 6);
block_copy(symbol, datagrid, 0, 64, 30, 4, 0, 8);
block_copy(symbol, datagrid, 30, 0, 30, 4, 10, 0);
block_copy(symbol, datagrid, 30, 4, 30, 20, 10, 2);
block_copy(symbol, datagrid, 30, 24, 30, 20, 10, 4);
block_copy(symbol, datagrid, 30, 44, 30, 20, 10, 6);
block_copy(symbol, datagrid, 30, 64, 30, 4, 10, 8);
break;
case 7: /* Version G */
central_finder(symbol, 47, 6, 2);
vert(symbol, 6, 47, 1);
vert(symbol, 27, 49, 1);
vert(symbol, 48, 47, 1);
vert(symbol, 69, 49, 1);
vert(symbol, 90, 47, 1);
vert(symbol, 6, 46, 0);
vert(symbol, 27, 46, 0);
vert(symbol, 48, 46, 0);
vert(symbol, 69, 46, 0);
vert(symbol, 90, 46, 0);
spigot(symbol, 0);
spigot(symbol, 12);
spigot(symbol, 24);
spigot(symbol, 36);
spigot(symbol, 67);
spigot(symbol, 79);
spigot(symbol, 91);
spigot(symbol, 103);
block_copy(symbol, datagrid, 0, 0, 46, 6, 0, 0);
block_copy(symbol, datagrid, 0, 6, 46, 19, 0, 2);
block_copy(symbol, datagrid, 0, 25, 46, 19, 0, 4);
block_copy(symbol, datagrid, 0, 44, 46, 19, 0, 6);
block_copy(symbol, datagrid, 0, 63, 46, 19, 0, 8);
block_copy(symbol, datagrid, 0, 82, 46, 6, 0, 10);
block_copy(symbol, datagrid, 46, 0, 46, 6, 12, 0);
block_copy(symbol, datagrid, 46, 6, 46, 19, 12, 2);
block_copy(symbol, datagrid, 46, 25, 46, 19, 12, 4);
block_copy(symbol, datagrid, 46, 44, 46, 19, 12, 6);
block_copy(symbol, datagrid, 46, 63, 46, 19, 12, 8);
block_copy(symbol, datagrid, 46, 82, 46, 6, 12, 10);
break;
case 8: /* Version H */
central_finder(symbol, 69, 6, 3);
vert(symbol, 6, 69, 1);
vert(symbol, 26, 73, 1);
vert(symbol, 46, 69, 1);
vert(symbol, 66, 73, 1);
vert(symbol, 86, 69, 1);
vert(symbol, 106, 73, 1);
vert(symbol, 126, 69, 1);
vert(symbol, 6, 68, 0);
vert(symbol, 26, 68, 0);
vert(symbol, 46, 68, 0);
vert(symbol, 66, 68, 0);
vert(symbol, 86, 68, 0);
vert(symbol, 106, 68, 0);
vert(symbol, 126, 68, 0);
spigot(symbol, 0);
spigot(symbol, 12);
spigot(symbol, 24);
spigot(symbol, 36);
spigot(symbol, 48);
spigot(symbol, 60);
spigot(symbol, 87);
spigot(symbol, 99);
spigot(symbol, 111);
spigot(symbol, 123);
spigot(symbol, 135);
spigot(symbol, 147);
block_copy(symbol, datagrid, 0, 0, 68, 6, 0, 0);
block_copy(symbol, datagrid, 0, 6, 68, 18, 0, 2);
block_copy(symbol, datagrid, 0, 24, 68, 18, 0, 4);
block_copy(symbol, datagrid, 0, 42, 68, 18, 0, 6);
block_copy(symbol, datagrid, 0, 60, 68, 18, 0, 8);
block_copy(symbol, datagrid, 0, 78, 68, 18, 0, 10);
block_copy(symbol, datagrid, 0, 96, 68, 18, 0, 12);
block_copy(symbol, datagrid, 0, 114, 68, 6, 0, 14);
block_copy(symbol, datagrid, 68, 0, 68, 6, 12, 0);
block_copy(symbol, datagrid, 68, 6, 68, 18, 12, 2);
block_copy(symbol, datagrid, 68, 24, 68, 18, 12, 4);
block_copy(symbol, datagrid, 68, 42, 68, 18, 12, 6);
block_copy(symbol, datagrid, 68, 60, 68, 18, 12, 8);
block_copy(symbol, datagrid, 68, 78, 68, 18, 12, 10);
block_copy(symbol, datagrid, 68, 96, 68, 18, 12, 12);
block_copy(symbol, datagrid, 68, 114, 68, 6, 12, 14);
break;
case 9: /* Version S */
horiz(symbol, 5, 1);
horiz(symbol, 7, 1);
set_module(symbol, 6, 0);
set_module(symbol, 6, symbol->width - 1);
unset_module(symbol, 7, 1);
unset_module(symbol, 7, symbol->width - 2);
switch(sub_version) {
case 1: /* Version S-10 */
set_module(symbol, 0, 5);
block_copy(symbol, datagrid, 0, 0, 4, 5, 0, 0);
block_copy(symbol, datagrid, 0, 5, 4, 5, 0, 1);
break;
case 2: /* Version S-20 */
set_module(symbol, 0, 10);
set_module(symbol, 4, 10);
block_copy(symbol, datagrid, 0, 0, 4, 10, 0, 0);
block_copy(symbol, datagrid, 0, 10, 4, 10, 0, 1);
break;
case 3: /* Version S-30 */
set_module(symbol, 0, 15);
set_module(symbol, 4, 15);
set_module(symbol, 6, 15);
block_copy(symbol, datagrid, 0, 0, 4, 15, 0, 0);
block_copy(symbol, datagrid, 0, 15, 4, 15, 0, 1);
break;
}
break;
case 10: /* Version T */
horiz(symbol, 11, 1);
horiz(symbol, 13, 1);
horiz(symbol, 15, 1);
set_module(symbol, 12, 0);
set_module(symbol, 12, symbol->width - 1);
set_module(symbol, 14, 0);
set_module(symbol, 14, symbol->width - 1);
unset_module(symbol, 13, 1);
unset_module(symbol, 13, symbol->width - 2);
unset_module(symbol, 15, 1);
unset_module(symbol, 15, symbol->width - 2);
switch(sub_version) {
case 1: /* Version T-16 */
set_module(symbol, 0, 8);
set_module(symbol, 10, 8);
block_copy(symbol, datagrid, 0, 0, 10, 8, 0, 0);
block_copy(symbol, datagrid, 0, 8, 10, 8, 0, 1);
break;
case 2: /* Version T-32 */
set_module(symbol, 0, 16);
set_module(symbol, 10, 16);
set_module(symbol, 12, 16);
block_copy(symbol, datagrid, 0, 0, 10, 16, 0, 0);
block_copy(symbol, datagrid, 0, 16, 10, 16, 0, 1);
break;
case 3: /* Verion T-48 */
set_module(symbol, 0, 24);
set_module(symbol, 10, 24);
set_module(symbol, 12, 24);
set_module(symbol, 14, 24);
block_copy(symbol, datagrid, 0, 0, 10, 24, 0, 0);
block_copy(symbol, datagrid, 0, 24, 10, 24, 0, 1);
break;
}
break;
}
for(i = 0; i < symbol->rows; i++) {
symbol->row_height[i] = 1;
}
return 0;
}
bool QChain::testPoint(const QPointF &point) const {
QPointF p = mapFromItem(world(), point);
std::vector<Vector2d> vert(m_vertices.begin(), m_vertices.end() - 1);
return Geometry::pointInPolygon(vert.begin(), vert.end(), Vector2d(p));
}
static inline void _build_faces(uint8_t ***p_cell_status, int x, int y, int z, int len_x, int len_y, int len_z, PoolVector<Face3> &p_faces) {
ERR_FAIL_INDEX(x, len_x);
ERR_FAIL_INDEX(y, len_y);
ERR_FAIL_INDEX(z, len_z);
if (p_cell_status[x][y][z] & _CELL_EXTERIOR)
return;
/* static const Vector3 vertices[8]={
Vector3(0,0,0),
Vector3(0,0,1),
Vector3(0,1,0),
Vector3(0,1,1),
Vector3(1,0,0),
Vector3(1,0,1),
Vector3(1,1,0),
Vector3(1,1,1),
};
*/
#define vert(m_idx) Vector3((m_idx & 4) >> 2, (m_idx & 2) >> 1, m_idx & 1)
static const uint8_t indices[6][4] = {
{ 7, 6, 4, 5 },
{ 7, 3, 2, 6 },
{ 7, 5, 1, 3 },
{ 0, 2, 3, 1 },
{ 0, 1, 5, 4 },
{ 0, 4, 6, 2 },
};
/*
{0,1,2,3},
{0,1,4,5},
{0,2,4,6},
{4,5,6,7},
{2,3,7,6},
{1,3,5,7},
{0,2,3,1},
{0,1,5,4},
{0,4,6,2},
{7,6,4,5},
{7,3,2,6},
{7,5,1,3},
*/
for (int i = 0; i < 6; i++) {
Vector3 face_points[4];
int disp_x = x + ((i % 3) == 0 ? ((i < 3) ? 1 : -1) : 0);
int disp_y = y + (((i - 1) % 3) == 0 ? ((i < 3) ? 1 : -1) : 0);
int disp_z = z + (((i - 2) % 3) == 0 ? ((i < 3) ? 1 : -1) : 0);
bool plot = false;
if (disp_x < 0 || disp_x >= len_x)
plot = true;
if (disp_y < 0 || disp_y >= len_y)
plot = true;
if (disp_z < 0 || disp_z >= len_z)
plot = true;
if (!plot && (p_cell_status[disp_x][disp_y][disp_z] & _CELL_EXTERIOR))
plot = true;
if (!plot)
continue;
for (int j = 0; j < 4; j++)
face_points[j] = vert(indices[i][j]) + Vector3(x, y, z);
p_faces.push_back(
Face3(
face_points[0],
face_points[1],
face_points[2]));
p_faces.push_back(
Face3(
face_points[2],
face_points[3],
face_points[0]));
}
}
typename property_traits<CoreMap>::value_type
core_numbers_impl(Graph& g, CoreMap c, PositionMap pos, Visitor vis)
{
typedef typename graph_traits<Graph>::vertices_size_type size_type;
typedef typename graph_traits<Graph>::degree_size_type degree_type;
typedef typename graph_traits<Graph>::vertex_descriptor vertex;
typename graph_traits<Graph>::vertex_iterator vi,vi_end;
// store the vertex core numbers
typename property_traits<CoreMap>::value_type v_cn = 0;
// compute the maximum degree (degrees are in the coremap)
typename graph_traits<Graph>::degree_size_type max_deg = 0;
for (boost::tie(vi,vi_end) = vertices(g); vi!=vi_end; ++vi) {
max_deg = (std::max<typename graph_traits<Graph>::degree_size_type>)(max_deg, get(c,*vi));
}
// store the vertices in bins by their degree
// allocate two extra locations to ease boundary cases
std::vector<size_type> bin(max_deg+2);
for (boost::tie(vi,vi_end) = vertices(g); vi!=vi_end; ++vi) {
++bin[get(c,*vi)];
}
// this loop sets bin[d] to the starting position of vertices
// with degree d in the vert array for the bucket sort
size_type cur_pos = 0;
for (degree_type cur_deg = 0; cur_deg < max_deg+2; ++cur_deg) {
degree_type tmp = bin[cur_deg];
bin[cur_deg] = cur_pos;
cur_pos += tmp;
}
// perform the bucket sort with pos and vert so that
// pos[0] is the vertex of smallest degree
std::vector<vertex> vert(num_vertices(g));
for (boost::tie(vi,vi_end) = vertices(g); vi!=vi_end; ++vi) {
vertex v=*vi;
size_type p=bin[get(c,v)];
put(pos,v,p);
vert[p]=v;
++bin[get(c,v)];
}
// we ``abused'' bin while placing the vertices, now,
// we need to restore it
std::copy(boost::make_reverse_iterator(bin.end()-2),
boost::make_reverse_iterator(bin.begin()),
boost::make_reverse_iterator(bin.end()-1));
// now simulate removing the vertices
for (size_type i=0; i < num_vertices(g); ++i) {
vertex v = vert[i];
vis.examine_vertex(v,g);
v_cn = get(c,v);
typename graph_traits<Graph>::out_edge_iterator oi,oi_end;
for (boost::tie(oi,oi_end) = out_edges(v,g); oi!=oi_end; ++oi) {
vis.examine_edge(*oi,g);
vertex u = target(*oi,g);
// if c[u] > c[v], then u is still in the graph,
if (get(c,u) > v_cn) {
degree_type deg_u = get(c,u);
degree_type pos_u = get(pos,u);
// w is the first vertex with the same degree as u
// (this is the resort operation!)
degree_type pos_w = bin[deg_u];
vertex w = vert[pos_w];
if (u!=v) {
// swap u and w
put(pos,u,pos_w);
put(pos,w,pos_u);
vert[pos_w] = u;
vert[pos_u] = w;
}
// now, the vertices array is sorted assuming
// we perform the following step
// start the set of vertices with degree of u
// one into the future (this now points at vertex
// w which we swapped with u).
++bin[deg_u];
// we are removing v from the graph, so u's degree
// decreases
put(c,u,get(c,u)-1);
}
}
vis.finish_vertex(v,g);
}
return v_cn;
}
int main(int argc, char **argv)
{
if (argc != 3)
{
std::cout << "Usage: XO_tester <program1> <program2>\n";
return 1;
}
const char *program1 = argv[1];
const char *program2 = argv[2];
//initLog(program1, program2);
// save field and score before the first move
saveField();
ExecutionResult result = ER_OK;
for (int move = 0 ; move < size * size ; ++move)
{
bool first = move % 2 == 0;
std::ostringstream outs;
outs << !first + 1 << "\n";
for (int i = 0 ; i < size ; ++i)
{
for (int j = 0 ; j < size ; ++j)
{
outs << field[i][j] << " ";
}
outs << "\n";
}
std::string output;
result = runProcess(first ? program1 : program2,
outs.str(), output, 1000, 64000);
if (result == ER_OK)
{
std::istringstream ins(output);
int x, y;
ins >> y >> x;
if (x >= 1 && x <= size && y >= 1 && y <= size
&& !field[y-1][x-1])
{
printLog(first, result, output);
int xo = first ? 1 : 2;
field[y-1][x-1] = xo;
saveField();
// check win
if (diag1(xo) || diag2(xo) || horz(xo, y - 1) || vert(xo, x - 1))
{
result = ER_WIN;
printLog(first, result, output);
break;
}
}
else
{
result = ER_IM;
printLog(first, result, output);
break;
}
}
else
{
/*
* ellipsoidGate does not follow the regular transforming process
* for historical reason, it is defined in 256 * 256 scale, and we don't know
* how to translate it to the transformed scale yet, thus simply throw exception
* for the EllipsoidGate defined on the non-linear data channel
* for linear channels, we will do the same rescaling here.
*/
void ellipsoidGate::transforming(trans_local & trans){
if(!Transformed())
{
/*
* get channel names to select respective transformation functions
*/
string channel_x=param.xName();
string channel_y=param.yName();
//get vertices in valarray format
vertices_valarray vert(antipodal_vertices);
transformation * trans_x=trans.getTran(channel_x);
transformation * trans_y=trans.getTran(channel_y);
/*
* we don't know the exact scaling rules for ellipsoidGate of non-linear space yet
* so simply throws error for now
*/
string err="Don't know how to scale the ellipsoidGate on the non-linear data space: ";
if(trans_x==NULL)
{
//do the special scaling first for linear ellipsoidGate
scaleTrans scale_f(1024);//assuming the max value is always 262144, thus 262144/256 = 1024
if(g_loglevel>=POPULATION_LEVEL)
COUT<<"scaling: "<<channel_x<<endl;;
scale_f.transforming(vert.x);
for(unsigned i=0;i<antipodal_vertices.size();i++)
antipodal_vertices.at(i).x=vert.x[i];
}
else
{
err.append(channel_x);
throw(domain_error(err));
}
if(trans_y==NULL)
{
//do the special scaling first for linear ellipsoidGate
scaleTrans scale_f(1024);//assuming the max value is always 262144, thus 262144/256 = 1024
if(g_loglevel>=POPULATION_LEVEL)
COUT<<"scaling: "<<channel_y<<endl;;
scale_f.transforming(vert.y);
for(unsigned i=0;i<antipodal_vertices.size();i++)
antipodal_vertices.at(i).y=vert.y[i];
}
else
{
err.append(channel_y);
throw(domain_error(err));
}
if(g_loglevel>=POPULATION_LEVEL)
COUT<<endl;
computeCov();
isTransformed=true;
}
}
void RoadGraph::_generateMeshVerticesDefault(VBORenderManager& renderManager, const QString &linesN, const QString &pointsN) {
//////////////////////////////////////
// EDGES
{
RoadEdgeIter ei, eend;
for (boost::tie(ei, eend) = boost::edges(graph); ei != eend; ++ei) {
if (!graph[*ei]->valid) continue;
int num = graph[*ei]->polyline3D.size();
if (num <= 1) continue;
float halfWidth = graph[*ei]->getWidth()*0.5f;//it should not have /2.0f (but compensated below)
std::vector<Vertex> vert(4*(num - 1));
std::vector<Vertex> vertBg(4*(num - 1));
// Type
QColor color;// = graph[*ei]->color;
QColor colorO;
float heightOffset = 0.0f;
float heightOffsetO=0.0f;
switch (graph[*ei]->type) {
case RoadEdge::TYPE_HIGHWAY:
heightOffset = 0.8f;
heightOffsetO = 0.3f;
color=QColor(0xfa,0x9e,0x25);
colorO=QColor(0x00, 0x00, 0x00);//QColor(0xdf,0x9c,0x13);
halfWidth*=1.4f;
break;
case RoadEdge::TYPE_BOULEVARD:
heightOffset = 0.5f;
heightOffsetO = 0.2f;
color=QColor(0xff,0xe1,0x68);
colorO=QColor(0x00, 0x00, 0x00);//QColor(0xe5,0xbd,0x4d);
halfWidth*=1.4f;
break;
case RoadEdge::TYPE_AVENUE:
heightOffset = 0.6f;
heightOffsetO = 0.1f;
color=QColor(0xff,0xe1,0x68);
colorO=QColor(0x00, 0x00, 0x00);//QColor(0xe5,0xbd,0x4d);
halfWidth*=1.4f;
break;
case RoadEdge::TYPE_STREET:
heightOffset = 0.4f;
heightOffsetO = 0.1f;
color=QColor(0xff,0xff,0xff);
colorO=QColor(0x00, 0x00, 0x00);//QColor(0xd7,0xd1,0xc7);
halfWidth*=1.8f;
break;
}
halfWidth+= G::global().getFloat("2DroadsExtraWidth");
heightOffset+=0.45f;//to have park below
heightOffsetO+=0.45f;//to have park below
float halfWidthBg = halfWidth + G::global().getFloat("2DroadsStroke");//it should not depend on the type 3.5f
QVector3D p0, p1, p2, p3;
QVector3D p0Bg, p1Bg, p2Bg, p3Bg;
for (int i = 0; i < num - 1; ++i) {
QVector3D pt1 = graph[*ei]->polyline3D[i];
QVector3D pt2 = graph[*ei]->polyline3D[i + 1];
QVector3D perp = pt2 - pt1;
perp = QVector3D(-perp.y(), perp.x(), 0.0f);
perp.normalize();
if (i == 0) {
p0 = pt1 + perp * halfWidth;
p1 = pt1 - perp * halfWidth;
p0Bg = pt1 + perp * halfWidthBg;
p1Bg = pt1 - perp * halfWidthBg;
}
p2 = pt2 - perp * halfWidth;
p3 = pt2 + perp * halfWidth;
p2Bg = pt2 - perp * halfWidthBg;
p3Bg = pt2 + perp * halfWidthBg;
QVector3D normal = Util::calculateNormal(p0, p1, p2);
if (i < num - 2) {
QVector3D pt3 = graph[*ei]->polyline3D[i + 2];
Util::getIrregularBisector(pt1, pt2, pt3, halfWidth, halfWidth, p3);
Util::getIrregularBisector(pt1, pt2, pt3, -halfWidth, -halfWidth, p2);
Util::getIrregularBisector(pt1, pt2, pt3, halfWidthBg, halfWidthBg, p3Bg);
Util::getIrregularBisector(pt1, pt2, pt3, -halfWidthBg, -halfWidthBg, p2Bg);
}
vert[i*4+0]=Vertex(p0,QVector3D(),QVector3D(0,0,1.0f),QVector3D(0,0,0));// pos color normal texture
vert[i*4+1]=Vertex(p1,QVector3D(),QVector3D(0,0,1.0f),QVector3D(1,0,0));// pos color normal texture
vert[i*4+2]=Vertex(p2,QVector3D(),QVector3D(0,0,1.0f),QVector3D(1,1,0));// pos color normal texture
vert[i*4+2]=Vertex(p3,QVector3D(),QVector3D(0,0,1.0f),QVector3D(0,1,0));// pos color normal texture
/*
vert[i*4+0]=Vertex(p0.x(),p0.y(),p0.z()+heightOffset,color.redF(),color.greenF(),color.blueF(),0,0,1.0f,0,0,0);// pos color normal texture
vert[i*4+1]=Vertex(p1.x(),p1.y(),p1.z()+heightOffset,color.redF(),color.greenF(),color.blueF(),0,0,1.0f,1,0,0);// pos color normal texture
vert[i*4+2]=Vertex(p2.x(),p2.y(),p2.z()+heightOffset,color.redF(),color.greenF(),color.blueF(),0,0,1.0f,1,1,0);// pos color normal texture
vert[i*4+3]=Vertex(p3.x(),p3.y(),p3.z()+heightOffset,color.redF(),color.greenF(),color.blueF(),0,0,1.0f,0,1,0);// pos color normal texture
*/
vertBg[i*4+0]=Vertex(p0Bg.x(),p0Bg.y(),p0Bg.z()+heightOffsetO,colorO.redF(),colorO.greenF(),colorO.blueF(),0,0,1.0f,0,0,0);// pos color normal texture
vertBg[i*4+1]=Vertex(p1Bg.x(),p1Bg.y(),p1Bg.z()+heightOffsetO,colorO.redF(),colorO.greenF(),colorO.blueF(),0,0,1.0f,0,0,0);// pos color normal texture
vertBg[i*4+2]=Vertex(p2Bg.x(),p2Bg.y(),p2Bg.z()+heightOffsetO,colorO.redF(),colorO.greenF(),colorO.blueF(),0,0,1.0f,0,0,0);// pos color normal texture
vertBg[i*4+3]=Vertex(p3Bg.x(),p3Bg.y(),p3Bg.z()+heightOffsetO,colorO.redF(),colorO.greenF(),colorO.blueF(),0,0,1.0f,0,0,0);// pos color normal texture
p0 = p3;
p1 = p2;
p0Bg = p3Bg;
p1Bg = p2Bg;
}
//renderManager.addStaticGeometry(linesN, vert, "", GL_QUADS, 1);//MODE=1 color
//renderManager.addStaticGeometry(linesN, vertBg, "", GL_QUADS, 1);//MODE=1 color
renderManager.addStaticGeometry(linesN, vert, "../data/extures/roads/road_2lines.jpg", GL_QUADS, 2|mode_AdaptTerrain);
}
}
/////////////////////////////////////////////////////
// INTERSECTIONS
{
RoadVertexIter vi, vend;
for (boost::tie(vi, vend) = boost::vertices(graph); vi != vend; ++vi) {
if (!graph[*vi]->valid) continue;
// get the largest width of the outing edges
QColor color;// = graph[*ei]->color;
QColor colorO;
float heightOffset = 0.0f;
float heightOffsetO=0.0f;
bool render = false;
int maxType=-1;
float halfWidth;
RoadOutEdgeIter oei, oeend;
for (boost::tie(oei, oeend) = boost::out_edges(*vi, graph); oei != oeend; ++oei) {
if (!graph[*oei]->valid) continue;
//printf("type %d\n",graph[*oei]->type);
if(maxType>graph[*oei]->type)
continue;
maxType=graph[*oei]->type;
halfWidth=graph[*oei]->getWidth()*0.5f;//it should not have /2.0f (but compensated below)
switch (graph[*oei]->type) {
case RoadEdge::TYPE_HIGHWAY:
render = true;
heightOffset = 0.6f;
heightOffsetO = 0.3f;
color=QColor(0xfa,0x9e,0x25);
colorO=QColor(0x00, 0x00, 0x00);//QColor(0xdf,0x9c,0x13);
halfWidth*=1.4f;
continue;
case RoadEdge::TYPE_BOULEVARD:
heightOffset = 0.5f;
heightOffsetO = 0.2f;
color=QColor(0xff,0xe1,0x68);
colorO=QColor(0x00, 0x00, 0x00);//QColor(0xe5,0xbd,0x4d);
halfWidth*=1.4f;
continue;
case RoadEdge::TYPE_AVENUE:
render = true;
heightOffset = 0.5f;
heightOffsetO = 0.2f;
color=QColor(0xff,0xe1,0x68);
colorO=QColor(0x00, 0x00, 0x00);//QColor(0xe5,0xbd,0x4d);
halfWidth*=1.4f;
continue;
case RoadEdge::TYPE_STREET:
render = true;
heightOffset = 0.4f;
heightOffsetO = 0.2f;
color=QColor(0xff,0xff,0xff);
colorO=QColor(0x00, 0x00, 0x00);//QColor(0xd7,0xd1,0xc7);
halfWidth*=1.8f;
continue;
}
}
halfWidth+= G::global().getFloat("2DroadsExtraWidth");
heightOffset+=0.45f;//to have park below
heightOffsetO+=0.45f;//to have park below
float max_r=halfWidth;
float max_rO=halfWidth + G::global().getFloat("2DroadsStroke");//it should not depend on the type 3.5f
std::vector<Vertex> vert(3*20);
std::vector<Vertex> vertBg(3*20);
for (int i = 0; i < 20; ++i) {
float angle1 = 2.0 * M_PI * i / 20.0f;
float angle2 = 2.0 * M_PI * (i + 1) / 20.0f;
vert[i*3+0]=Vertex(graph[*vi]->pt3D.x(), graph[*vi]->pt3D.y(), graph[*vi]->pt3D.z() + heightOffset, color.redF(), color.greenF(), color.blueF(), 0, 0, 1.0f, 0, 0, 0);
vert[i*3+1]=Vertex(graph[*vi]->pt3D.x() + max_r * cosf(angle1), graph[*vi]->pt3D.y() + max_r * sinf(angle1), graph[*vi]->pt3D.z() + heightOffset, color.redF(), color.greenF(), color.blueF(), 0, 0, 1.0f, 0, 0, 0);
vert[i*3+2]=Vertex(graph[*vi]->pt3D.x() + max_r * cosf(angle2), graph[*vi]->pt3D.y() + max_r * sinf(angle2), graph[*vi]->pt3D.z() + heightOffset, color.redF(), color.greenF(), color.blueF(), 0, 0, 1.0f, 0, 0, 0);
vertBg[i*3+0]=Vertex(graph[*vi]->pt3D.x(), graph[*vi]->pt3D.y(), graph[*vi]->pt3D.z() + heightOffsetO, colorO.redF(), colorO.greenF(), colorO.blueF(), 0, 0, 1.0f, 0, 0, 0);
vertBg[i*3+1]=Vertex(graph[*vi]->pt3D.x() + max_rO * cosf(angle1), graph[*vi]->pt3D.y() + max_rO * sinf(angle1), graph[*vi]->pt3D.z() + heightOffsetO, colorO.redF(), colorO.greenF(), colorO.blueF(), 0, 0, 1.0f, 0, 0, 0);
vertBg[i*3+2]=Vertex(graph[*vi]->pt3D.x() + max_rO * cosf(angle2), graph[*vi]->pt3D.y() + max_rO * sinf(angle2), graph[*vi]->pt3D.z() + heightOffsetO, colorO.redF(), colorO.greenF(), colorO.blueF(), 0, 0, 1.0f, 0, 0, 0);
}
//renderManager.addStaticGeometry(pointsN, vert, "", GL_TRIANGLES, 1);//MODE=1 color
//renderManager.addStaticGeometry(pointsN, vertBg, "", GL_TRIANGLES, 1);//MODE=1 color
}
}
}
void
ZoneDefaultInteraction::onProximityUpdate(QPointF const& mouse_pos, InteractionState& interaction)
{
m_screenMousePos = mouse_pos;
QTransform const to_screen(m_rContext.imageView().imageToWidget());
QTransform const from_screen(m_rContext.imageView().widgetToImage());
QPointF const image_mouse_pos(from_screen.map(mouse_pos));
m_ptrNearestVertex.reset();
m_ptrNearestVertexSpline.reset();
m_nearestSegment = SplineSegment();
m_ptrNearestSegmentSpline.reset();
Proximity best_vertex_proximity;
Proximity best_segment_proximity;
bool has_zone_under_mouse = false;
BOOST_FOREACH(EditableZoneSet::Zone const& zone, m_rContext.zones()) {
EditableSpline::Ptr const& spline = zone.spline();
if (!has_zone_under_mouse) {
QPainterPath path;
path.setFillRule(Qt::WindingFill);
path.addPolygon(spline->toPolygon());
has_zone_under_mouse = path.contains(image_mouse_pos);
}
// Process vertices.
for (SplineVertex::Ptr vert(spline->firstVertex());
vert; vert = vert->next(SplineVertex::NO_LOOP)) {
Proximity const proximity(mouse_pos, to_screen.map(vert->point()));
if (proximity < best_vertex_proximity) {
m_ptrNearestVertex = vert;
m_ptrNearestVertexSpline = spline;
best_vertex_proximity = proximity;
}
}
// Process segments.
for (EditableSpline::SegmentIterator it(*spline); it.hasNext(); ) {
SplineSegment const segment(it.next());
QLineF const line(to_screen.map(segment.toLine()));
QPointF point_on_segment;
Proximity const proximity(Proximity::pointAndLineSegment(mouse_pos, line, &point_on_segment));
if (proximity < best_segment_proximity) {
m_nearestSegment = segment;
m_ptrNearestSegmentSpline = spline;
best_segment_proximity = proximity;
m_screenPointOnSegment = point_on_segment;
}
}
}
interaction.updateProximity(m_vertexProximity, best_vertex_proximity, 1);
interaction.updateProximity(m_segmentProximity, best_segment_proximity, 0);
if (has_zone_under_mouse) {
Proximity const zone_area_proximity(std::min(best_vertex_proximity, best_segment_proximity));
interaction.updateProximity(m_zoneAreaProximity, zone_area_proximity, -1, zone_area_proximity);
}
}
TessellationExample(void)
: prog()
, projection_matrix(prog, "ProjectionMatrix")
, camera_matrix(prog, "CameraMatrix")
{
VertexShader vert(ObjectDesc("Vertex"));
vert.Source(
"#version 330\n"
"uniform mat4 CameraMatrix;"
"in vec4 Position;"
"out vec4 vertPosition;"
"void main(void)"
"{"
" vertPosition = CameraMatrix * Position;"
"}"
);
vert.Compile();
prog << vert;
TessControlShader teco(ObjectDesc("TessControl"));
teco.Source(
"#version 330\n"
"#extension ARB_tessellation_shader: enable\n"
"layout(vertices = 16) out;"
"in vec4 vertPosition[];"
"patch out vec3 tecoPosition[16];"
"void main(void)"
"{"
" if(gl_InvocationID == 0)"
" {"
" int tl = 1-int(100.0 / vertPosition[gl_InvocationID].z);"
" gl_TessLevelInner[0] = tl;"
" gl_TessLevelInner[1] = tl;"
" gl_TessLevelOuter[0] = tl;"
" gl_TessLevelOuter[1] = tl;"
" gl_TessLevelOuter[2] = tl;"
" gl_TessLevelOuter[3] = tl;"
" }"
" tecoPosition[gl_InvocationID] = "
" vertPosition[gl_InvocationID].xyz;"
"}"
);
teco.Compile();
prog << teco;
TessEvaluationShader teev(ObjectDesc("TessEvaluation"));
teev.Source(
"#version 330\n"
"#extension ARB_tessellation_shader: enable\n"
"layout(quads, equal_spacing, ccw) in;"
"uniform mat4 ProjectionMatrix;"
"patch in vec3 tecoPosition[16];"
"const mat4 B = mat4("
" -1, 3,-3, 1,"
" 3,-6, 3, 0,"
" -3, 3, 0, 0,"
" 1, 0, 0, 0 "
");"
"mat4 Px, Py, Pz;"
"void main(void)"
"{"
" float u = gl_TessCoord.x, v = gl_TessCoord.y;"
" for(int j=0; j!=4; ++j)"
" for(int i=0; i!=4; ++i)"
" {"
" int k = j*4+i;"
" Px[j][i] = tecoPosition[k].x;"
" Py[j][i] = tecoPosition[k].y;"
" Pz[j][i] = tecoPosition[k].z;"
" }"
" mat4 Cx = B * Px * B;"
" mat4 Cy = B * Py * B;"
" mat4 Cz = B * Pz * B;"
" vec4 up = vec4(u*u*u, u*u, u, 1);"
" vec4 vp = vec4(v*v*v, v*v, v, 1);"
" vec4 tempPosition = vec4(dot(Cx * vp, up), dot(Cy * vp, up), dot(Cz * vp, up), 1.0);"
" gl_Position = ProjectionMatrix * tempPosition;"
"}"
);
teev.Compile();
prog << teev;
FragmentShader frag(ObjectDesc("Fragment"));
frag.Source(
"#version 330\n"
"out vec3 fragColor;"
"void main(void)"
"{"
" fragColor = vec3(0.1, 0.1, 0.1);"
"}"
);
frag.Compile();
prog << frag;
prog.Link();
prog.Use();
vao.Bind();
GLfloat patch_cp_pos[16*3] = {
-2.0f, 0.0f, -2.0f,
-1.0f, 0.0f, -3.0f,
1.0f, 0.0f, -5.0f,
2.0f, 0.0f, -2.0f,
-1.0f, 0.0f, -1.0f,
0.0f, 4.0f, -1.0f,
1.0f, 4.0f, -1.0f,
3.0f, 0.0f, -1.0f,
-1.0f, 0.0f, 1.0f,
-1.0f, 4.0f, 1.0f,
0.0f, 4.0f, 1.0f,
1.0f, 0.0f, 1.0f,
-2.0f, 0.0f, 2.0f,
-1.0f, 0.0f, 5.0f,
1.0f, 0.0f, 3.0f,
2.0f, 0.0f, 2.0f
};
positions.Bind(Buffer::Target::Array);
Buffer::Data(Buffer::Target::Array, 16*3, patch_cp_pos);
VertexArrayAttrib position_attr(prog, "Position");
position_attr.Setup<Vec3f>();
position_attr.Enable();
gl.ClearColor(0.9f, 0.9f, 0.9f, 0.0f);
gl.ClearDepth(1.0f);
gl.PolygonMode(PolygonMode::Line);
gl.PatchParameter(PatchParameter::PatchVertices, 16);
}
void AsymmetricUnit::SetSpaceGroup(const SpaceGroup &spg)
{
VFN_DEBUG_MESSAGE("AsymmetricUnit::SetSpaceGroup(SpGroup)",5)
tmp_C_Numeric_locale tmploc;
# if 0
TAU_PROFILE("(AsymmetricUnit::SetSpaceGroup)","void (SpaceGroup)",TAU_DEFAULT);
mXmin=0.;
mYmin=0.;
mZmin=0.;
mXmax=1.;
mYmax=1.;
mZmax=1.;
if(1==spg.GetSpaceGroupNumber()) return;//no need to search an asymmetric unit
// Test points=reular grid of points inside the unit cell
// All points must be or have at least a symmetric in the asymmetric unit
const long nbPoints=13;
CrystMatrix_REAL testPoints(nbPoints*nbPoints*nbPoints,3);
{
long l=0;
for(long i=0;i<nbPoints;i++)
for(long j=0;j<nbPoints;j++)
for(long k=0;k<nbPoints;k++)
{
testPoints(l ,0)=i/(REAL)nbPoints;
testPoints(l ,1)=j/(REAL)nbPoints;
testPoints(l++,2)=k/(REAL)nbPoints;
}
}
testPoints += 0.01;
CrystVector_REAL vert(8);//vertices limits
vert(0)=1/8.; vert(1)=1/6.; vert(2)=1/4.; vert(3)=1/3.;
vert(4)=1/2.; vert(5)=2/3.; vert(6)=3/4.; vert(7)=1.;
const int NbStep=vert.numElements();
CrystMatrix_REAL coords;
double junk;
REAL minVolume=1.;
bool allPtsInAsym,tmp;
for(long nx=0;nx<NbStep;nx++)
for(long ny=0;ny<NbStep;ny++)
for(long nz=0;nz<NbStep;nz++)
{
if(minVolume<(vert(nx)*vert(ny)*vert(nz)-.0001)) break;
allPtsInAsym=true;
for(int i=0;i<testPoints.rows();i++)
{
coords=spg.GetAllSymmetrics(testPoints(i,0),testPoints(i,1),testPoints(i,2));
for(long j=0;j<coords.numElements();j++) coords(j)=modf(coords(j)+10.,&junk) ;
tmp=false;
for(long j=0;j<coords.rows();j++)
{//Test if at least one of the symmetrics is in the parallelepiped
if( (coords(j,0) < vert(nx))
&&(coords(j,1) < vert(ny))
&&(coords(j,2) < vert(nz)))
{
//cout << modf(coords(j,0)+10.,junk) << " "
// << modf(coords(j,1)+10.,junk) << " "
// << modf(coords(j,2)+10.,junk) << endl;
tmp=true;
break;
}
}
if(false==tmp)
{
//cout << " Rejected:"<<vert(nx)<<" "<<vert(ny)<<" "<<vert(nz)<<" "<<i<<endl;
//cout << coords <<endl;
allPtsInAsym=false;
break;
}
}
if( (true==allPtsInAsym))
{
mXmax=vert(nx);
mYmax=vert(ny);
mZmax=vert(nz);
VFN_DEBUG_MESSAGE("->ACCEPTED:" << mXmax <<" "<< mYmax <<" "<< mZmax <<endl,2)
//cout << "->ACCEPTED:" << mXmax <<" "<< mYmax <<" "<< mZmax <<endl;
minVolume=vert(nx)*vert(ny)*vert(nz);
break;//no need to grow any more along z
}
}
cout<<"->Finished Generating (pseudo) Asymmetric Unit, with:"<<endl
<<" 0 <= x <= "<< mXmax<<endl
<<" 0 <= y <= "<< mYmax<<endl
<<" 0 <= z <= "<< mZmax<<endl<<endl;
#else
const cctbx::sgtbx::brick b(spg.GetCCTbxSpg().type());
#ifdef __DEBUG__
cout<<"->>Parallelepipedic Asymmetric Unit, from cctbx::sgtbx::brick:"<<endl
<<b.as_string()<<endl;
#endif
mXmin=boost::rational_cast<REAL,int>(b(0,0).value());
mYmin=boost::rational_cast<REAL,int>(b(1,0).value());
mZmin=boost::rational_cast<REAL,int>(b(2,0).value());
mXmax=boost::rational_cast<REAL,int>(b(0,1).value());
mYmax=boost::rational_cast<REAL,int>(b(1,1).value());
mZmax=boost::rational_cast<REAL,int>(b(2,1).value());
#endif
}
gp_XY SMESH_MesherHelper::GetNodeUV(const TopoDS_Face& F,
const SMDS_MeshNode* n,
const SMDS_MeshNode* n2) const
{
gp_Pnt2d uv( 1e100, 1e100 );
const SMDS_PositionPtr Pos = n->GetPosition();
if(Pos->GetTypeOfPosition()==SMDS_TOP_FACE)
{
// node has position on face
const SMDS_FacePosition* fpos =
static_cast<const SMDS_FacePosition*>(n->GetPosition().get());
uv = gp_Pnt2d(fpos->GetUParameter(),fpos->GetVParameter());
}
else if(Pos->GetTypeOfPosition()==SMDS_TOP_EDGE)
{
// node has position on edge => it is needed to find
// corresponding edge from face, get pcurve for this
// edge and recieve value from this pcurve
const SMDS_EdgePosition* epos =
static_cast<const SMDS_EdgePosition*>(n->GetPosition().get());
SMESHDS_Mesh* meshDS = GetMeshDS();
int edgeID = Pos->GetShapeId();
TopoDS_Edge E = TopoDS::Edge(meshDS->IndexToShape(edgeID));
double f, l;
Handle(Geom2d_Curve) C2d = BRep_Tool::CurveOnSurface(E, F, f, l);
uv = C2d->Value( epos->GetUParameter() );
// for a node on a seam edge select one of UVs on 2 pcurves
if ( n2 && IsSeamShape( edgeID ) )
uv = GetUVOnSeam( uv, GetNodeUV( F, n2, 0 ));
}
else if(Pos->GetTypeOfPosition()==SMDS_TOP_VERTEX)
{
if ( int vertexID = n->GetPosition()->GetShapeId() ) {
bool ok = true;
const TopoDS_Vertex& V = TopoDS::Vertex(GetMeshDS()->IndexToShape(vertexID));
try {
uv = BRep_Tool::Parameters( V, F );
}
catch (Standard_Failure& exc) {
ok = false;
}
if ( !ok ) {
for ( TopExp_Explorer vert(F,TopAbs_VERTEX); !ok && vert.More(); vert.Next() )
ok = ( V == vert.Current() );
if ( !ok ) {
#ifdef _DEBUG_
MESSAGE ( "SMESH_MesherHelper::GetNodeUV(); Vertex " << vertexID
<< " not in face " << GetMeshDS()->ShapeToIndex( F ) );
#endif
// get UV of a vertex closest to the node
double dist = 1e100;
gp_Pnt pn ( n->X(),n->Y(),n->Z() );
for ( TopExp_Explorer vert(F,TopAbs_VERTEX); !ok && vert.More(); vert.Next() ) {
TopoDS_Vertex curV = TopoDS::Vertex( vert.Current() );
gp_Pnt p = BRep_Tool::Pnt( curV );
double curDist = p.SquareDistance( pn );
if ( curDist < dist ) {
dist = curDist;
uv = BRep_Tool::Parameters( curV, F );
if ( dist < DBL_MIN ) break;
}
}
}
else {
TopTools_ListIteratorOfListOfShape it( myMesh->GetAncestors( V ));
for ( ; it.More(); it.Next() ) {
if ( it.Value().ShapeType() == TopAbs_EDGE ) {
const TopoDS_Edge & edge = TopoDS::Edge( it.Value() );
double f,l;
Handle(Geom2d_Curve) C2d = BRep_Tool::CurveOnSurface(edge, F, f, l);
if ( !C2d.IsNull() ) {
double u = ( V == TopExp::FirstVertex( edge ) ) ? f : l;
uv = C2d->Value( u );
break;
}
}
}
}
}
if ( n2 && IsSeamShape( vertexID ) )
uv = GetUVOnSeam( uv, GetNodeUV( F, n2, 0 ));
}
}
return uv.XY();
}
int main(int argc, char **argv)
{
if (argc != 3)
{
std::cout << "Usage: tester <program1> <program2>\n";
return 1;
}
const char *program1 = argv[1];
const char *program2 = argv[2];
ExecutionResult result = ER_OK;
for (int move = 0 ; move < size * size ; ++move)
{
bool first = move % 2 == 0;
std::ostringstream outs;
outs << !first + 1 << "\n";
for (int i = 0 ; i < size ; ++i)
{
for (int j = 0 ; j < size ; ++j)
{
outs << field[i][j] << " ";
}
outs << "\n";
}
std::string output;
result = runProcess(first ? program1 : program2,
outs.str(), output, 1000, 64000);
if (result == ER_OK)
{
std::istringstream ins(output);
int x, y;
ins >> y >> x;
if (x >= 1 && x <= size && y >= 1 && y <= size
&& !field[y-1][x-1])
{
printLog(first, result, output);
int xo = first ? 1 : 2;
field[y-1][x-1] = xo;
score[0] = score[1] = 0;
for (int i = 0 ; i < size ; ++i)
{
for (int j = 0 ; j < size ; ++j)
{
horz(i, j);
vert(i, j);
diag1(i, j);
diag2(i, j);
}
}
std::ostringstream outs;
for (int i = 0 ; i < size ; ++i)
{
for (int j = 0 ; j < size ; ++j)
outs << field[i][j] << " ";
outs << "\n";
}
outs << score[0] << " " << score[1] << "\n";
printField(outs.str());
}
else
{
result = ER_IM;
printLog(first, result, output);
break;
}
}
else
{
void TreeSegGeo::constructGeometryData(Quaternion orient, bool topPlane, bool bottomPlane)
{
int numVerts = mSegmentsW * (mSegmentsH + 1) + 2;
// positionData
mGeoData.posData.push_back(Vector3::Zero);
mGeoData.posData.push_back(Vector3(0, mLength, 0));
float heightDelta = mLength / mSegmentsH;
float deltaTheta = 2*PI / mSegmentsW;
for(int i = 0; i <= mSegmentsH; ++i)
{
float circleHeight = i * heightDelta;
float circleRadius = mRadius[i];
for(int j = 0; j < mSegmentsW; ++j)
{
float x = circleRadius * cos(j*deltaTheta);
float z = circleRadius * sin(j*deltaTheta);
Vector3 vertPos(x, circleHeight, z);
if(i == 0)
vertPos = vertPos * orient.Conjugate();
mGeoData.posData.push_back(vertPos);
}
}
// verts
for(size_t i = 0; i < mGeoData.posData.size(); ++i)
{
Vert vert(i);
mGeoData.verts.push_back(vert);
}
// triangles
if(bottomPlane)
{
for(int i = 0; i < mSegmentsW; ++i) // 底圆面
{
// 顶点索引为2 ~ sw+1
Triangle triangle(0, 2+i, 2 + (i + 1) % mSegmentsW);
mGeoData.tris.push_back(triangle);
}
}
if(topPlane)
{
for(int i = 0; i < mSegmentsW; ++i) // 顶圆面
{
// 顶点索引为sw*sh + 2 ~ sw*(sh + 1) + 1
Triangle triangle(1, mSegmentsW*mSegmentsH + 2 + (i + 1) % mSegmentsW, mSegmentsW*mSegmentsH + 2 + i);
mGeoData.tris.push_back(triangle);
}
}
for(int i = 0; i < mSegmentsH; ++i) // 柱面
{
for(int j = 0; j < mSegmentsW; ++j)
{
Triangle tri1;
Triangle tri2;
tri1.vertexIndex[0] = mSegmentsW * i + j + 2;
tri1.vertexIndex[1] = mSegmentsW * (i + 1) + j + 2;
tri1.vertexIndex[2] = mSegmentsW * i + (j + 1)%mSegmentsW + 2;
tri2.vertexIndex[0] = mSegmentsW * (i + 1) + j + 2;
tri2.vertexIndex[1] = mSegmentsW * (i + 1) + (j + 1)%mSegmentsW + 2;
tri2.vertexIndex[2] = mSegmentsW * i + (j + 1)%mSegmentsW + 2;
_Assert(tri1.vertexIndex[0] < mSegmentsW * (mSegmentsH + 1) + 2);
_Assert(tri1.vertexIndex[1] < mSegmentsW * (mSegmentsH + 1) + 2);
_Assert(tri1.vertexIndex[2] < mSegmentsW * (mSegmentsH + 1) + 2);
_Assert(tri2.vertexIndex[0] < mSegmentsW * (mSegmentsH + 1) + 2);
_Assert(tri2.vertexIndex[1] < mSegmentsW * (mSegmentsH + 1) + 2);
_Assert(tri2.vertexIndex[2] < mSegmentsW * (mSegmentsH + 1) + 2);
mGeoData.tris.push_back(tri1);
mGeoData.tris.push_back(tri2);
}
}
}
MeshVisualizer::MeshVisualizer(const Flags flags): flags(flags), transformationProjectionMatrixUniform(0), viewportSizeUniform(1), colorUniform(2), wireframeColorUniform(3), wireframeWidthUniform(4), smoothnessUniform(5) {
#ifndef MAGNUM_TARGET_GLES
if(flags & Flag::Wireframe && !(flags & Flag::NoGeometryShader))
MAGNUM_ASSERT_EXTENSION_SUPPORTED(Extensions::GL::ARB::geometry_shader4);
#elif defined(MAGNUM_TARGET_GLES2)
if(flags & Flag::Wireframe)
MAGNUM_ASSERT_EXTENSION_SUPPORTED(Extensions::GL::OES::standard_derivatives);
#endif
Utility::Resource rs("MagnumShaders");
#ifndef MAGNUM_TARGET_GLES
const Version v = Context::current()->supportedVersion({Version::GL320, Version::GL310, Version::GL210});
#else
const Version v = Context::current()->supportedVersion({Version::GLES300, Version::GLES200});
#endif
Shader vert(v, Shader::Type::Vertex);
vert.addSource(flags & Flag::Wireframe ? "#define WIREFRAME_RENDERING\n" : "")
.addSource(flags & Flag::NoGeometryShader ? "#define NO_GEOMETRY_SHADER\n" : "")
.addSource(rs.get("compatibility.glsl"))
.addSource(rs.get("MeshVisualizer.vert"));
CORRADE_INTERNAL_ASSERT_OUTPUT(vert.compile());
vert.compile();
attachShader(vert);
#ifndef MAGNUM_TARGET_GLES
if(flags & Flag::Wireframe && !(flags & Flag::NoGeometryShader)) {
Shader geom(v, Shader::Type::Geometry);
geom.addSource(rs.get("compatibility.glsl"))
.addSource(rs.get("MeshVisualizer.geom"));
CORRADE_INTERNAL_ASSERT_OUTPUT(geom.compile());
geom.compile();
attachShader(geom);
}
#endif
Shader frag(v, Shader::Type::Fragment);
frag.addSource(flags & Flag::Wireframe ? "#define WIREFRAME_RENDERING\n" : "")
.addSource(flags & Flag::NoGeometryShader ? "#define NO_GEOMETRY_SHADER\n" : "")
.addSource(rs.get("compatibility.glsl"))
.addSource(rs.get("MeshVisualizer.frag"));
CORRADE_INTERNAL_ASSERT_OUTPUT(frag.compile());
frag.compile();
attachShader(frag);
#ifndef MAGNUM_TARGET_GLES
if(!Context::current()->isExtensionSupported<Extensions::GL::ARB::explicit_attrib_location>() ||
Context::current()->version() == Version::GL210)
#else
if(!Context::current()->isVersionSupported(Version::GLES300))
#endif
{
bindAttributeLocation(Position::Location, "position");
#ifndef MAGNUM_TARGET_GLES
if(!Context::current()->isVersionSupported(Version::GL310))
#endif
{
bindAttributeLocation(VertexIndex::Location, "vertexIndex");
}
}
CORRADE_INTERNAL_ASSERT_OUTPUT(link());
link();
#ifndef MAGNUM_TARGET_GLES
if(!Context::current()->isExtensionSupported<Extensions::GL::ARB::explicit_uniform_location>())
#endif
{
transformationProjectionMatrixUniform = uniformLocation("transformationProjectionMatrix");
colorUniform = uniformLocation("color");
if(flags & Flag::Wireframe) {
wireframeColorUniform = uniformLocation("wireframeColor");
wireframeWidthUniform = uniformLocation("wireframeWidth");
smoothnessUniform = uniformLocation("smoothness");
if(!(flags & Flag::NoGeometryShader))
viewportSizeUniform = uniformLocation("viewportSize");
}
}
/* Set defaults in OpenGL ES (for desktop they are set in shader code itself) */
#ifdef MAGNUM_TARGET_GLES
setColor(Color3<>(1.0f));
if(flags & Flag::Wireframe) {
setWireframeColor(Color3<>(0.0f));
setWireframeWidth(1.0f);
setSmoothness(2.0f);
}
#endif
}
bool MeshMod_FixPipe::apply(Mesh *mesh)
{
int i, j;
rvfloat minHeights[8] = { -1e9,-1e9,-1e9,-1e9,-1e9,-1e9,-1e9,-1e9 };
Polygon *newPolys [8] = { NULL,NULL,NULL,NULL,NULL,NULL,NULL,NULL };
Vector polyCenters[8];
bool pipe = false;
for (i = 0; i < mesh->data.num_polys; i++) {
if (mesh->poly[i]->detTEPart() & TEP_PIPE) {
pipe = true;
break;
}
}
if (!pipe) {
return true;
}
rvfloat meshMinX = mesh->verts[0]->pos.coord[0];
rvfloat meshMaxX = mesh->verts[0]->pos.coord[0];
rvfloat meshMinZ = mesh->verts[0]->pos.coord[2];
rvfloat meshMaxZ = mesh->verts[0]->pos.coord[2];
for (i = 1; i < mesh->data.num_vecs; i++) {
Vertex *v = mesh->verts[i];
if (meshMinX > v->pos.coord[0] - 0.5) {
meshMinX = v->pos.coord[0];
}
if (meshMaxX < v->pos.coord[0] + 0.5) {
meshMaxX = v->pos.coord[0];
}
if (meshMinZ > v->pos.coord[2] - 0.5) {
meshMinZ = v->pos.coord[2];
}
if (meshMaxZ < v->pos.coord[2] + 0.5) {
meshMaxZ = v->pos.coord[2];
}
}
Vector meshCenter(
floor((meshMinX + meshMaxX) / 2000 + 0.5) * 1000,
0.0f,
floor((meshMinZ + meshMaxZ) / 2000 + 0.5) * 1000);
for (i = 0; i < mesh->data.num_polys; i++) {
Polygon *p = mesh->poly[i];
if (p->detTEPart() & (TEP_PWALL | TEP_PIPE)) {
rvfloat minHeight = -1e9;
Vector polyCenter(0.0, 0.0, 0.0);
for (j = 0; j < p->numverts(); j++) {
Vertex *v = mesh->verts[p->vertidx(j)];
polyCenter = polyCenter + v->pos;
if (minHeight < v->pos.coord[1]) {
minHeight = v->pos.coord[1];
}
}
Vector polyCoord = polyCenter * 0.25;
polyCenter = polyCoord - meshCenter;
int octant = (int) ((atan2(polyCenter.z(), polyCenter.x()) + M_PI) / (M_PI / 4));
if (p->detTEPart() & TEP_PIPE) {
if (minHeights[octant] < minHeight) {
minHeights[octant] = minHeight;
}
}
if ((p->detTEPart() & TEP_PWALL) && p->numverts() == 4) {
Vector& v0 = mesh->verts[p->vertidx(0)]->pos;
Vector& v1 = mesh->verts[p->vertidx(1)]->pos;
Vector& v2 = mesh->verts[p->vertidx(2)]->pos;
rvfloat w = (v0 - v1).length();
rvfloat h = (v2 - v1).length();
if (fabs(w - 125.0) < 0.5 && fabs(h - 125.0) < 0.5) {
// Check if we've encountered an indentical polygon before,
// and if so, delete the current one so we don't end up with
// duplicates
bool found = false;
for (j = 0; j < polyList.size(); j++) {
if ((polyList[j].center - polyCoord).length() < 1.0) {
found = true;
break;
}
}
if (found) {
delete mesh->poly[i];
mesh->poly[i] = NULL;
} else {
polyList.push_back(PolyInfo(p, polyCoord));
}
}
}
}
}
for (i = 0; i < mesh->data.num_polys; i++) {
Polygon *p = mesh->poly[i];
if (p->isInTexture(0, 0.5,1.0, 0.0,0.375)) {
rvfloat minX = 1.0e9f, maxX = -1.0e9f;
rvfloat minZ = 1.0e9f, maxZ = -1.0e9f;
Vector polyCenter(0.0, 0.0, 0.0);
for (j = 0; j < p->numverts(); j++) {
Vertex *v = mesh->verts[p->vertidx(j)];
polyCenter = polyCenter + v->pos;
if (minX > v->pos.coord[0]) {
minX = v->pos.coord[0];
}
if (maxX < v->pos.coord[0]) {
maxX = v->pos.coord[0];
}
if (minZ > v->pos.coord[2]) {
minZ = v->pos.coord[2];
}
if (maxZ < v->pos.coord[2]) {
maxZ = v->pos.coord[2];
}
}
Vector polyCoord = polyCenter / (rvfloat) p->numverts();
polyCenter = polyCoord - meshCenter;
int octant = (int) ((atan2(polyCenter.z(), polyCenter.x()) + M_PI) / (M_PI / 4));
if (newPolys[octant] == NULL
&& (fabs(maxX - minX) < 0.5 || fabs(maxZ - minZ) < 0.5)
&& fabs(polyCenter.x()) > 10.0 && fabs(polyCenter.z()) > 10.0) {
Vector p[4];
Vector norm;
// Find the corners of the new polygon
switch (octant) {
case 0:
p[3] = Vector(-500, minHeights[octant] + 125, -500);
p[2] = Vector(-500, minHeights[octant] , -500);
p[1] = Vector(-500, minHeights[octant] , -375);
p[0] = Vector(-500, minHeights[octant] + 125, -375);
norm = Vector(-1.0, 0.0, 0.0);
break;
case 1:
p[0] = Vector(-375, minHeights[octant] , -500);
p[1] = Vector(-375, minHeights[octant] + 125, -500);
p[2] = Vector(-500, minHeights[octant] + 125, -500);
p[3] = Vector(-500, minHeights[octant] , -500);
norm = Vector(0.0, 0.0, -1.0);
break;
case 2:
p[3] = Vector(375, minHeights[octant] , -500);
p[2] = Vector(375, minHeights[octant] + 125, -500);
p[1] = Vector(500, minHeights[octant] + 125, -500);
p[0] = Vector(500, minHeights[octant] , -500);
norm = Vector(0.0, 0.0, -1.0);
break;
case 3:
p[0] = Vector(500, minHeights[octant] + 125, -500);
p[1] = Vector(500, minHeights[octant] , -500);
p[2] = Vector(500, minHeights[octant] , -375);
p[3] = Vector(500, minHeights[octant] + 125, -375);
norm = Vector(-1.0, 0.0, 0.0);
break;
case 4:
p[3] = Vector(500, minHeights[octant] + 125, 500);
p[2] = Vector(500, minHeights[octant] , 500);
p[1] = Vector(500, minHeights[octant] , 375);
p[0] = Vector(500, minHeights[octant] + 125, 375);
norm = Vector(-1.0, 0.0, 0.0);
break;
case 5:
p[0] = Vector(375, minHeights[octant] , 500);
p[1] = Vector(375, minHeights[octant] + 125, 500);
p[2] = Vector(500, minHeights[octant] + 125, 500);
p[3] = Vector(500, minHeights[octant] , 500);
norm = Vector(0.0, 0.0, -1.0);
break;
case 6:
p[3] = Vector(-375, minHeights[octant] , 500);
p[2] = Vector(-375, minHeights[octant] + 125, 500);
p[1] = Vector(-500, minHeights[octant] + 125, 500);
p[0] = Vector(-500, minHeights[octant] , 500);
norm = Vector(0.0, 0.0, -1.0);
break;
case 7:
p[0] = Vector(-500, minHeights[octant] + 125, 500);
p[1] = Vector(-500, minHeights[octant] , 500);
p[2] = Vector(-500, minHeights[octant] , 375);
p[3] = Vector(-500, minHeights[octant] + 125, 375);
norm = Vector(-1.0, 0.0, 0.0);
break;
}
for (j = 0; j < 4; j++) {
// Translate to the mesh position
p[j] = p[j] + meshCenter;
// Add the vertex
Vertex vert(p[j], norm);
mesh->add(new Vertex(&vert));
}
// add a new polygon
RV_Poly polyData = {
1, 0,
{
mesh->data.num_vecs - 4,
mesh->data.num_vecs - 3,
mesh->data.num_vecs - 2,
mesh->data.num_vecs - 1
},
{ {0xFFFFFF}, {0xFFFFFF}, {0xFFFFFF}, {0xFFFFFF} },
{ { 0.0, 0.0 }, { 0.0, 0.0 }, { 0.0, 0.0 }, { 0.0, 0.0 } }
};
polyCenter = (p[0] + p[1] + p[2] + p[3]) / 4;
// Check if we've encountered an indentical polygon before,
// and if so, use that instead of creating a new one
bool found = false;
for (j = 0; j < polyList.size(); j++) {
if ((polyList[j].center - polyCenter).length() < 1.0) {
found = true;
break;
}
}
if (found) {
newPolys[octant] = polyList[j].poly;
} else {
newPolys[octant] = new Polygon(mesh, &polyData);
mesh->add(newPolys[octant]);
polyList.push_back(PolyInfo(newPolys[octant], polyCenter));
}
polyCenters[octant] = polyCenter;
}
}
}
// Finally, put textures on the "missing pieces"
for (i = 0; i < 8; i++) {
if (newPolys[i]) {
Polygon *p = newPolys[i];
p->data.texture = 0;
for (int j = 0; j < p->numverts(); j++) {
Vertex *v = mesh->verts[p->vertidx(j)];
Vector relPos = v->pos - Vector(meshMinX, 0, meshMinZ);
rvfloat x = relPos.lengthXZ();
rvfloat y = relPos.y();
if ((relPos.x() < 0.5 || relPos.x() > 999.5)
&& (relPos.z() < 0.5 || relPos.z() > 999.5)) {
p->data.texcoord[j].u = 0.504f;
} else {
p->data.texcoord[j].u = 0.625f;
}
if (relPos.y() > polyCenters[i].y() + 0.5) {
p->data.texcoord[j].v = 0.371f;
} else {
p->data.texcoord[j].v = 0.250f;
}
p->data.color[j].value = 0xFFFFFF;
}
}
}
return true;
}
btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
{
btCollisionShape* shape = 0;
switch (collision->m_geometry.m_type)
{
case URDF_GEOM_CYLINDER:
{
btScalar cylRadius = collision->m_geometry.m_cylinderRadius;
btScalar cylLength = collision->m_geometry.m_cylinderLength;
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i=0;i<numSteps;i++)
{
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i)/numSteps)),cylRadius*btCos(SIMD_2_PI*(float(i)/numSteps)),cylLength/2.);
vertices.push_back(vert);
vert[2] = -cylLength/2.;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(0.001);
cylZShape->initializePolyhedralFeatures();
//btConvexShape* cylZShape = new btConeShapeZ(cyl->radius,cyl->length);//(vexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
shape = cylZShape;
break;
}
case URDF_GEOM_BOX:
{
btVector3 extents = collision->m_geometry.m_boxSize;
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
shape = boxShape;
shape ->setMargin(0.001);
break;
}
case URDF_GEOM_SPHERE:
{
btScalar radius = collision->m_geometry.m_sphereRadius;
btSphereShape* sphereShape = new btSphereShape(radius);
shape = sphereShape;
shape ->setMargin(0.001);
break;
break;
}
case URDF_GEOM_MESH:
{
if (collision->m_name.length())
{
//b3Printf("collision->name=%s\n",collision->m_name.c_str());
}
if (1)
{
if (collision->m_geometry.m_meshFileName.length())
{
const char* filename = collision->m_geometry.m_meshFileName.c_str();
//b3Printf("mesh->filename=%s\n",filename);
char fullPath[1024];
int fileType = 0;
sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
b3FileUtils::toLower(fullPath);
char tmpPathPrefix[1024];
int maxPathLen = 1024;
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
char collisionPathPrefix[1024];
sprintf(collisionPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
if (strstr(fullPath,".dae"))
{
fileType = FILE_COLLADA;
}
if (strstr(fullPath,".stl"))
{
fileType = FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = FILE_OBJ;
}
sprintf(fullPath,"%s%s",urdfPathPrefix,filename);
FILE* f = fopen(fullPath,"rb");
if (f)
{
fclose(f);
GLInstanceGraphicsShape* glmesh = 0;
switch (fileType)
{
case FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath,collisionPathPrefix);
break;
}
case FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
break;
}
case FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans;upAxisTrans.setIdentity();
float unitMeterScaling=1;
int upAxis = 2;
LoadMeshFromCollada(fullPath,
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis );
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i=0;i<visualShapeInstances.size();i++)
{
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
for (int i=0;i<gfxShape->m_vertices->size();i++)
{
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices+additionalIndices);
for (int k=0;k<additionalIndices;k++)
{
glmesh->m_indices->at(curNumIndices+k)=gfxShape->m_indices->at(k)+baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
//upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling,unitMeterScaling,unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*instance->m_worldTransform*upAxisMat;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices+additionalVertices);
for(int v=0;v<verts.size();v++)
{
btVector3 pos(verts[v].xyzw[0],verts[v].xyzw[1],verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(fullPath);
break;
}
default:
{
b3Warning("Unsupported file type in Collision: %s\n",fullPath);
btAssert(0);
}
}
if (glmesh && (glmesh->m_numvertices>0))
{
//b3Printf("extracted %d verticed from STL file %s\n", glmesh->m_numvertices,fullPath);
//int shapeId = m_glApp->m_instancingRenderer->registerShape(&gvertices[0].pos[0],gvertices.size(),&indices[0],indices.size());
//convex->setUserIndex(shapeId);
btAlignedObjectArray<btVector3> convertedVerts;
convertedVerts.reserve(glmesh->m_numvertices);
for (int i=0;i<glmesh->m_numvertices;i++)
{
convertedVerts.push_back(btVector3(glmesh->m_vertices->at(i).xyzw[0],glmesh->m_vertices->at(i).xyzw[1],glmesh->m_vertices->at(i).xyzw[2]));
}
//btConvexHullShape* cylZShape = new btConvexHullShape(&glmesh->m_vertices->at(0).xyzw[0], glmesh->m_numvertices, sizeof(GLInstanceVertex));
btConvexHullShape* cylZShape = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
//cylZShape->initializePolyhedralFeatures();
//btVector3 halfExtents(cyl->radius,cyl->radius,cyl->length/2.);
//btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
cylZShape->setMargin(0.001);
shape = cylZShape;
} else
{
b3Warning("issue extracting mesh from STL file %s\n", fullPath);
}
delete glmesh;
} else
{
b3Warning("mesh geometry not found %s\n",fullPath);
}
}
}
break;
}
default:
{
b3Warning("Error: unknown visual geometry type\n");
}
}
return shape;
}
void MeshLoader::loadScene(const aiScene *scene) {
m_entity = std::make_shared<Entity>();
for (int i = 0; i < scene->mNumMeshes; i++) {
const aiMesh *model = scene->mMeshes[i];
std::vector<Vertex> vertices;
std::vector<unsigned int> indices;
const aiVector3D aiZeroVector(0.0f, 0.0f, 0.0f);
for (unsigned int i = 0; i < model->mNumVertices; i++) {
const aiVector3D *pPos = &(model->mVertices[i]);
const aiVector3D *pNormal = &(model->mNormals[i]);
const aiVector3D *pTexCoord = model->HasTextureCoords(0) ? &(model->mTextureCoords[0][i]) : &aiZeroVector;
const aiVector3D *pTangent = model->HasTangentsAndBitangents() ? &(model->mTangents[i]) : &aiZeroVector;
Vertex vert(glm::vec3(pPos->x, pPos->y, pPos->z),
glm::vec2(pTexCoord->x, pTexCoord->y),
glm::vec3(pNormal->x, pNormal->y, pNormal->z),
glm::vec3(pTangent->x, pTangent->y, pTangent->z));
vertices.push_back(vert);
}
for (unsigned int i = 0; i < model->mNumFaces; i++) {
const aiFace &face = model->mFaces[i];
indices.push_back(face.mIndices[0]);
indices.push_back(face.mIndices[1]);
indices.push_back(face.mIndices[2]);
}
const aiMaterial *pMaterial = scene->mMaterials[model->mMaterialIndex];
log_info("tex num: %i", model->mMaterialIndex);
std::shared_ptr<Texture> diffuseMap;
std::shared_ptr<Texture> normalMap;
std::shared_ptr<Texture> specularMap;
aiString Path;
if (pMaterial->GetTextureCount(aiTextureType_DIFFUSE) > 0 &&
pMaterial->GetTexture(aiTextureType_DIFFUSE, 0, &Path, NULL, NULL, NULL, NULL, NULL) == AI_SUCCESS) {
diffuseMap = std::make_shared<Texture>(Asset(Path.data));
} else {
diffuseMap = std::make_shared<Texture>(Asset("default_normal.jpg"));
}
if (pMaterial->GetTextureCount(aiTextureType_HEIGHT) > 0 &&
pMaterial->GetTexture(aiTextureType_HEIGHT, 0, &Path, NULL, NULL, NULL, NULL, NULL) == AI_SUCCESS) {
normalMap = std::make_shared<Texture>(Asset(Path.data));
} else {
normalMap = std::make_shared<Texture>(Asset("default_normal.jpg"));
}
if (pMaterial->GetTextureCount(aiTextureType_SPECULAR) > 0 &&
pMaterial->GetTexture(aiTextureType_SPECULAR, 0, &Path, NULL, NULL, NULL, NULL, NULL) == AI_SUCCESS) {
specularMap = std::make_shared<Texture>(Asset(Path.data));
} else {
specularMap = std::make_shared<Texture>(Asset("default_specular.jpg"));
}
MeshRendererData meshRenderData;
meshRenderData.mesh = std::make_shared<Mesh>(m_fileName + std::string(model->mName.C_Str()), &vertices[0],
vertices.size(), &indices[0], indices.size());
meshRenderData.material = std::make_shared<Material>(diffuseMap, normalMap, specularMap);
MeshLoader::sceneMeshRendererDataCache[m_fileName].push_back(meshRenderData);
m_entity->addComponent<MeshRenderer>(meshRenderData.mesh, meshRenderData.material);
}
}
bool Tessellation(int& OutputVertNum, int& OutputIndiceNum)
{
if (ExtRingCoords == NULL)
{
return false;
}
#ifdef _DEBUG
//test
std::cout<<"EXT"<<std::endl;
std::cout<<ExtRingVertNum<<std::endl;
for (int i = 0; i < ExtRingVertNum; i++)
{
std::cout<<ExtRingCoords[i][0]<<ExtRingCoords[i][1]<<ExtRingCoords[i][2]<<std::endl;
}
std::cout<<"INT"<<std::endl;
std::cout<<IntRingCoordsNum.size()<<std::endl;
std::vector<int>::iterator itr = IntRingCoordsNum.begin();
std::vector<Vec3*>::iterator itr2 = IntRingCoords.begin();
for (;itr != IntRingCoordsNum.end(); itr++, itr2++)
{
std::cout<<*itr<<std::endl;
for (int i = 0 ; i <*itr; i ++ )
{
std::cout<<(*itr2)[i][0]<<(*itr2)[i][1]<<(*itr2)[i][2]<<std::endl;
}
}
std::cout<<"good1"<<std::endl;
#endif
int IntRingNum = IntRingCoords.size();
//calculate the normal
Vec3 pNorm;
pNorm[0] = 0.0;
pNorm[1] = 0.0;
pNorm[2] = 0.0;
Vec3 lVert;
lVert[0] = ExtRingCoords[ExtRingVertNum - 1][0];
lVert[1] = ExtRingCoords[ExtRingVertNum - 1][1];
lVert[2] = ExtRingCoords[ExtRingVertNum - 1][2];
for (int i = 0 ; i < ExtRingVertNum; i++)
{
Vec3 pStep;
pStep[0] = (lVert[2] + ExtRingCoords[i][2]) * (lVert[1] - ExtRingCoords[i][1]);
pStep[1] = (lVert[0] + ExtRingCoords[i][0]) * (lVert[2] - ExtRingCoords[i][2]);
pStep[2] = (lVert[1] + ExtRingCoords[i][1]) * (lVert[0] - ExtRingCoords[i][0]);
pNorm[0] = pNorm[0] + pStep[0];
pNorm[1] = pNorm[1] + pStep[1];
pNorm[2] = pNorm[2] + pStep[2];
lVert[0] = ExtRingCoords[i][0];
lVert[1] = ExtRingCoords[i][1];
lVert[2] = ExtRingCoords[i][2];
}
#ifdef _DEBUG
//test
std::cout<<"good2"<<std::endl;
#endif
//do tessellation
//verts number
int VertNum = ExtRingVertNum;
for (int i = 0; i < IntRingCoordsNum.size(); i++)
VertNum += IntRingCoordsNum[i];
//
#ifdef _DEBUG
//test
std::cout<<"good2.1"<<std::endl;
std::cout<<"VertNum: "<<VertNum<<std::endl;
std::cout<<pNorm[0]<<pNorm[1]<<pNorm[2]<<std::endl;
#endif
tess.init(VertNum, TVec3d(pNorm[0], pNorm[1], pNorm[2]));
std::vector<TVec3d> ring;
std::vector<TVec2f> tag;//no use
//add ExtierRing
for (int i = 0; i < ExtRingVertNum; i++)
{
TVec3d vert(ExtRingCoords[i][0], ExtRingCoords[i][1], ExtRingCoords[i][2]);
ring.push_back(vert);
}
#ifdef _DEBUG
//test
std::cout<<"good2.2"<<std::endl;
std::cout<<ring.size()<<std::endl;
#endif
tess.addContour(ring, tag);
ring.clear();
//add InteriorRings
for (int i = 0; i < IntRingNum; i++)
{
for (int j = 0 ; j < IntRingCoordsNum[i]; j++)
{
TVec3d vert(IntRingCoords[i][j][0], IntRingCoords[i][j][1], IntRingCoords[i][j][2]);
ring.push_back(vert);
}
tess.addContour(ring, tag);
ring.clear();
}
#ifdef _DEBUG
//test
std::cout<<"good2.3"<<std::endl;
#endif
tess.compute();
//return results
if (tess.getIndices().size() == 0)
{
return false;
}
#ifdef _DEBUG
//test
std::cout<<"good3"<<std::endl;
#endif
//return coordsSAT
OutputVertNum = tess.getVertices().size();
OutputIndiceNum = tess.getIndices().size()/3;
//
{
delete[] ExtRingCoords;
ExtRingCoords = NULL;
std::vector<Vec3*>::iterator itr = IntRingCoords.begin();
for (; itr != IntRingCoords.end(); itr++)
{
delete[] *itr;
*itr = NULL;
}
}
#ifdef _DEBUG
//test
std::cout<<"good4"<<std::endl;
#endif
return true;
}
void
RTriangleMesh::init(const std::tr1::shared_ptr<magnet::thread::TaskQueue>& systemQueue)
{
RTriangles::init(systemQueue);
//Send the data we already have
setGLPositions(_vertices);
setGLElements(_elements);
{//Calculate the normal vectors
std::vector<float> VertexNormals(_vertices.size(), 0);
//For every triangle, add the cross product of the two edges. We
//then renormalize the normal to get a
//"weighted-by-the-triangle-size" normal.
for (size_t triangle(0); triangle < _elements.size() / 3; ++triangle)
{
//Grab the vertex IDs
size_t v1(_elements[3 * triangle + 0]),
v2(_elements[3 * triangle + 1]),
v3(_elements[3 * triangle + 2]);
Vector V1(_vertices[3 * v1 + 0],
_vertices[3 * v1 + 1],
_vertices[3 * v1 + 2]),
V2(_vertices[3 * v2 + 0],
_vertices[3 * v2 + 1],
_vertices[3 * v2 + 2]),
V3(_vertices[3 * v3 + 0],
_vertices[3 * v3 + 1],
_vertices[3 * v3 + 2]);
Vector norm = (V2-V1)^(V3-V2);
for (size_t i(0); i < 3; ++i)
{
VertexNormals[3 * v1 + i] += norm[i];
VertexNormals[3 * v2 + i] += norm[i];
VertexNormals[3 * v3 + i] += norm[i];
}
}
//Now normalize those vertices
for (size_t vert(0); vert < _vertices.size() / 3; ++vert)
{
double norm
= VertexNormals[3 * vert + 0] * VertexNormals[3 * vert + 0]
+ VertexNormals[3 * vert + 1] * VertexNormals[3 * vert + 1]
+ VertexNormals[3 * vert + 2] * VertexNormals[3 * vert + 2];
if (norm)
{
double factor = 1 / std::sqrt(norm);
VertexNormals[3 * vert + 0] *= factor;
VertexNormals[3 * vert + 1] *= factor;
VertexNormals[3 * vert + 2] *= factor;
}
else
{
VertexNormals[3 * vert + 0] = 1;
VertexNormals[3 * vert + 1] = 0;
VertexNormals[3 * vert + 2] = 0;
}
}
setGLNormals(VertexNormals);
}
//Reclaim some memory
_vertices.clear();
_elements.clear();
}
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut)
{
GLInstanceGraphicsShape* glmesh = 0;
btConvexShape* convexColShape = 0;
switch (visual->m_geometry.m_type)
{
case URDF_GEOM_CYLINDER:
{
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i = 0; i<numSteps; i++)
{
btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
btScalar cylLength = visual->m_geometry.m_cylinderLength;
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
vertices.push_back(vert);
vert[2] = -cylLength / 2.;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(0.001);
convexColShape = cylZShape;
break;
}
case URDF_GEOM_BOX:
{
btVector3 extents = visual->m_geometry.m_boxSize;
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
convexColShape = boxShape;
convexColShape->setMargin(0.001);
break;
}
case URDF_GEOM_SPHERE:
{
btScalar radius = visual->m_geometry.m_sphereRadius;
btSphereShape* sphereShape = new btSphereShape(radius);
convexColShape = sphereShape;
convexColShape->setMargin(0.001);
break;
break;
}
case URDF_GEOM_MESH:
{
if (visual->m_name.length())
{
//b3Printf("visual->name=%s\n", visual->m_name.c_str());
}
if (1)//visual->m_geometry)
{
if (visual->m_geometry.m_meshFileName.length())
{
const char* filename = visual->m_geometry.m_meshFileName.c_str();
//b3Printf("mesh->filename=%s\n", filename);
char fullPath[1024];
int fileType = 0;
char tmpPathPrefix[1024];
std::string xml_string;
int maxPathLen = 1024;
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
char visualPathPrefix[1024];
sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
b3FileUtils::toLower(fullPath);
if (strstr(fullPath, ".dae"))
{
fileType = MY_FILE_COLLADA;
}
if (strstr(fullPath, ".stl"))
{
fileType = MY_FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = MY_FILE_OBJ;
}
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
FILE* f = fopen(fullPath, "rb");
if (f)
{
fclose(f);
switch (fileType)
{
case MY_FILE_OBJ:
{
//glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fullPath, meshData))
{
if (meshData.m_textureImage)
{
MyTexture2 texData;
texData.m_width = meshData.m_textureWidth;
texData.m_height = meshData.m_textureHeight;
texData.textureData = meshData.m_textureImage;
texturesOut.push_back(texData);
}
glmesh = meshData.m_gfxShape;
}
break;
}
case MY_FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
break;
}
case MY_FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans; upAxisTrans.setIdentity();
float unitMeterScaling = 1;
int upAxis = 2;
LoadMeshFromCollada(fullPath,
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i<visualShapeInstances.size(); i++)
{
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
for (int i = 0; i<gfxShape->m_vertices->size(); i++)
{
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices + additionalIndices);
for (int k = 0; k<additionalIndices; k++)
{
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
for (int v = 0; v<verts.size(); v++)
{
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(fullPath);
break;
}
default:
{
b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
btAssert(0);
}
}
if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
{
//apply the geometry scaling
for (int i=0;i<glmesh->m_vertices->size();i++)
{
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
}
}
else
{
b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
}
}
else
{
b3Warning("mesh geometry not found %s\n", fullPath);
}
}
}
break;
}
default:
{
b3Warning("Error: unknown visual geometry type\n");
}
}
//if we have a convex, tesselate into localVertices/localIndices
if ((glmesh==0) && convexColShape)
{
btShapeHull* hull = new btShapeHull(convexColShape);
hull->buildHull(0.0);
{
// int strideInBytes = 9*sizeof(float);
int numVertices = hull->numVertices();
int numIndices = hull->numIndices();
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i < numVertices; i++)
{
GLInstanceVertex vtx;
btVector3 pos = hull->getVertexPointer()[i];
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 1.f;
pos.normalize();
vtx.normal[0] = pos.x();
vtx.normal[1] = pos.y();
vtx.normal[2] = pos.z();
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
glmesh->m_vertices->push_back(vtx);
}
btAlignedObjectArray<int> indices;
for (int i = 0; i < numIndices; i++)
{
glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
}
glmesh->m_numvertices = glmesh->m_vertices->size();
glmesh->m_numIndices = glmesh->m_indices->size();
}
delete hull;
delete convexColShape;
convexColShape = 0;
}
if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
{
int baseIndex = verticesOut.size();
for (int i = 0; i < glmesh->m_indices->size(); i++)
{
indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
}
for (int i = 0; i < glmesh->m_vertices->size(); i++)
{
GLInstanceVertex& v = glmesh->m_vertices->at(i);
btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
btVector3 vt = visualTransform*vert;
v.xyzw[0] = vt[0];
v.xyzw[1] = vt[1];
v.xyzw[2] = vt[2];
btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
triNormal = visualTransform.getBasis()*triNormal;
v.normal[0] = triNormal[0];
v.normal[1] = triNormal[1];
v.normal[2] = triNormal[2];
verticesOut.push_back(v);
}
}
delete glmesh;
}
void StochasticPointRenderer::initializeShader( void )
{
const std::string vert_code = "StochasticShader/point.vert";
const std::string frag_code = "StochasticShader/point.frag";
kvs::glew::ShaderSource vert( vert_code );
kvs::glew::ShaderSource frag( frag_code );
if ( BaseClass::isEnabledShading() )
{
switch ( BaseClass::m_shader->type() )
{
case kvs::Shader::LambertShading: frag.define("ENABLE_LAMBERT_SHADING"); break;
case kvs::Shader::PhongShading: frag.define("ENABLE_PHONG_SHADING"); break;
case kvs::Shader::BlinnPhongShading: frag.define("ENABLE_BLINN_PHONG_SHADING"); break;
default: /* NO SHADING */ break;
}
}
this->create_shaders( m_shader_program, vert, frag );
m_loc_identifier = m_shader_program.attributeLocation( "identifier" );
if ( BaseClass::isEnabledShading() )
{
m_shader_program.bind();
switch ( BaseClass::m_shader->type() )
{
case kvs::Shader::LambertShading:
{
const GLfloat Ka = ((kvs::Shader::Lambert*)(BaseClass::m_shader))->Ka;
const GLfloat Kd = ((kvs::Shader::Lambert*)(BaseClass::m_shader))->Kd;
m_shader_program.setUniformValuef( "shading.Ka", Ka );
m_shader_program.setUniformValuef( "shading.Kd", Kd );
break;
}
case kvs::Shader::PhongShading:
{
const GLfloat Ka = ((kvs::Shader::Phong*)(BaseClass::m_shader))->Ka;
const GLfloat Kd = ((kvs::Shader::Phong*)(BaseClass::m_shader))->Kd;
const GLfloat Ks = ((kvs::Shader::Phong*)(BaseClass::m_shader))->Ks;
const GLfloat S = ((kvs::Shader::Phong*)(BaseClass::m_shader))->S;
m_shader_program.setUniformValuef( "shading.Ka", Ka );
m_shader_program.setUniformValuef( "shading.Kd", Kd );
m_shader_program.setUniformValuef( "shading.Ks", Ks );
m_shader_program.setUniformValuef( "shading.S", S );
break;
}
case kvs::Shader::BlinnPhongShading:
{
const GLfloat Ka = ((kvs::Shader::BlinnPhong*)(BaseClass::m_shader))->Ka;
const GLfloat Kd = ((kvs::Shader::BlinnPhong*)(BaseClass::m_shader))->Kd;
const GLfloat Ks = ((kvs::Shader::BlinnPhong*)(BaseClass::m_shader))->Ks;
const GLfloat S = ((kvs::Shader::BlinnPhong*)(BaseClass::m_shader))->S;
m_shader_program.setUniformValuef( "shading.Ka", Ka );
m_shader_program.setUniformValuef( "shading.Kd", Kd );
m_shader_program.setUniformValuef( "shading.Ks", Ks );
m_shader_program.setUniformValuef( "shading.S", S );
break;
}
default: /* NO SHADING */ break;
}
m_shader_program.unbind();
}
}
bool Map::LoadV2(FILE *f) {
uint32 data_size;
if (fread(&data_size, sizeof(data_size), 1, f) != 1) {
return false;
}
uint32 buffer_size;
if (fread(&buffer_size, sizeof(buffer_size), 1, f) != 1) {
return false;
}
std::vector<char> data;
data.resize(data_size);
if (fread(&data[0], data_size, 1, f) != 1) {
return false;
}
std::vector<char> buffer;
buffer.resize(buffer_size);
uint32 v = InflateData(&data[0], data_size, &buffer[0], buffer_size);
char *buf = &buffer[0];
uint32 vert_count;
uint32 ind_count;
uint32 nc_vert_count;
uint32 nc_ind_count;
uint32 model_count;
uint32 plac_count;
uint32 plac_group_count;
uint32 tile_count;
uint32 quads_per_tile;
float units_per_vertex;
vert_count = *(uint32*)buf;
buf += sizeof(uint32);
ind_count = *(uint32*)buf;
buf += sizeof(uint32);
nc_vert_count = *(uint32*)buf;
buf += sizeof(uint32);
nc_ind_count = *(uint32*)buf;
buf += sizeof(uint32);
model_count = *(uint32*)buf;
buf += sizeof(uint32);
plac_count = *(uint32*)buf;
buf += sizeof(uint32);
plac_group_count = *(uint32*)buf;
buf += sizeof(uint32);
tile_count = *(uint32*)buf;
buf += sizeof(uint32);
quads_per_tile = *(uint32*)buf;
buf += sizeof(uint32);
units_per_vertex = *(float*)buf;
buf += sizeof(float);
std::vector<Vertex> verts;
std::vector<uint32> indices;
for (uint32 i = 0; i < vert_count; ++i) {
float x;
float y;
float z;
x = *(float*)buf;
buf += sizeof(float);
y = *(float*)buf;
buf += sizeof(float);
z = *(float*)buf;
buf += sizeof(float);
Vertex vert(x, y, z);
verts.push_back(vert);
}
for (uint32 i = 0; i < ind_count; ++i) {
uint32 index;
index = *(uint32*)buf;
buf += sizeof(uint32);
indices.push_back(index);
}
for (uint32 i = 0; i < nc_vert_count; ++i) {
buf += sizeof(float) * 3;
}
for (uint32 i = 0; i < nc_ind_count; ++i) {
buf += sizeof(uint32);
}
std::map<std::string, std::shared_ptr<ModelEntry>> models;
for (uint32 i = 0; i < model_count; ++i) {
std::shared_ptr<ModelEntry> me(new ModelEntry);
std::string name = buf;
buf += name.length() + 1;
uint32 vert_count = *(uint32*)buf;
buf += sizeof(uint32);
uint32 poly_count = *(uint32*)buf;
buf += sizeof(uint32);
me->verts.resize(vert_count);
for (uint32 j = 0; j < vert_count; ++j) {
float x = *(float*)buf;
buf += sizeof(float);
float y = *(float*)buf;
buf += sizeof(float);
float z = *(float*)buf;
buf += sizeof(float);
me->verts[j] = Vertex(x, y, z);
}
me->polys.resize(poly_count);
for (uint32 j = 0; j < poly_count; ++j) {
uint32 v1 = *(uint32*)buf;
buf += sizeof(uint32);
uint32 v2 = *(uint32*)buf;
buf += sizeof(uint32);
uint32 v3 = *(uint32*)buf;
buf += sizeof(uint32);
uint8 vis = *(uint8*)buf;
buf += sizeof(uint8);
ModelEntry::Poly p;
p.v1 = v1;
p.v2 = v2;
p.v3 = v3;
p.vis = vis;
me->polys[j] = p;
}
models[name] = me;
}
for (uint32 i = 0; i < plac_count; ++i) {
std::string name = buf;
buf += name.length() + 1;
float x = *(float*)buf;
buf += sizeof(float);
float y = *(float*)buf;
buf += sizeof(float);
float z = *(float*)buf;
buf += sizeof(float);
float x_rot = *(float*)buf;
buf += sizeof(float);
float y_rot = *(float*)buf;
buf += sizeof(float);
float z_rot = *(float*)buf;
buf += sizeof(float);
float x_scale = *(float*)buf;
buf += sizeof(float);
float y_scale = *(float*)buf;
buf += sizeof(float);
float z_scale = *(float*)buf;
buf += sizeof(float);
if (models.count(name) == 0)
continue;
auto model = models[name];
auto &mod_polys = model->polys;
auto &mod_verts = model->verts;
for (uint32 j = 0; j < mod_polys.size(); ++j) {
auto ¤t_poly = mod_polys[j];
auto v1 = mod_verts[current_poly.v1];
auto v2 = mod_verts[current_poly.v2];
auto v3 = mod_verts[current_poly.v3];
RotateVertex(v1, x_rot, y_rot, z_rot);
RotateVertex(v2, x_rot, y_rot, z_rot);
RotateVertex(v3, x_rot, y_rot, z_rot);
ScaleVertex(v1, x_scale, y_scale, z_scale);
ScaleVertex(v2, x_scale, y_scale, z_scale);
ScaleVertex(v3, x_scale, y_scale, z_scale);
TranslateVertex(v1, x, y, z);
TranslateVertex(v2, x, y, z);
TranslateVertex(v3, x, y, z);
float t = v1.x;
v1.x = v1.y;
v1.y = t;
t = v2.x;
v2.x = v2.y;
v2.y = t;
t = v3.x;
v3.x = v3.y;
v3.y = t;
if (current_poly.vis != 0) {
verts.push_back(v1);
verts.push_back(v2);
verts.push_back(v3);
indices.push_back((uint32)verts.size() - 3);
indices.push_back((uint32)verts.size() - 2);
indices.push_back((uint32)verts.size() - 1);
}
}
}
for (uint32 i = 0; i < plac_group_count; ++i) {
float x = *(float*)buf;
buf += sizeof(float);
float y = *(float*)buf;
buf += sizeof(float);
float z = *(float*)buf;
buf += sizeof(float);
float x_rot = *(float*)buf;
buf += sizeof(float);
float y_rot = *(float*)buf;
buf += sizeof(float);
float z_rot = *(float*)buf;
buf += sizeof(float);
float x_scale = *(float*)buf;
buf += sizeof(float);
float y_scale = *(float*)buf;
buf += sizeof(float);
float z_scale = *(float*)buf;
buf += sizeof(float);
float x_tile = *(float*)buf;
buf += sizeof(float);
float y_tile = *(float*)buf;
buf += sizeof(float);
float z_tile = *(float*)buf;
buf += sizeof(float);
uint32 p_count = *(uint32*)buf;
buf += sizeof(uint32);
for (uint32 j = 0; j < p_count; ++j) {
std::string name = buf;
buf += name.length() + 1;
float p_x = *(float*)buf;
buf += sizeof(float);
float p_y = *(float*)buf;
buf += sizeof(float);
float p_z = *(float*)buf;
buf += sizeof(float);
float p_x_rot = *(float*)buf * 3.14159f / 180;
buf += sizeof(float);
float p_y_rot = *(float*)buf * 3.14159f / 180;
buf += sizeof(float);
float p_z_rot = *(float*)buf * 3.14159f / 180;
buf += sizeof(float);
float p_x_scale = *(float*)buf;
buf += sizeof(float);
float p_y_scale = *(float*)buf;
buf += sizeof(float);
float p_z_scale = *(float*)buf;
buf += sizeof(float);
if (models.count(name) == 0)
continue;
auto &model = models[name];
for (size_t k = 0; k < model->polys.size(); ++k) {
auto &poly = model->polys[k];
Vertex v1, v2, v3;
v1 = model->verts[poly.v1];
v2 = model->verts[poly.v2];
v3 = model->verts[poly.v3];
ScaleVertex(v1, p_x_scale, p_y_scale, p_z_scale);
ScaleVertex(v2, p_x_scale, p_y_scale, p_z_scale);
ScaleVertex(v3, p_x_scale, p_y_scale, p_z_scale);
TranslateVertex(v1, p_x, p_y, p_z);
TranslateVertex(v2, p_x, p_y, p_z);
TranslateVertex(v3, p_x, p_y, p_z);
RotateVertex(v1, x_rot * 3.14159f / 180.0f, 0, 0);
RotateVertex(v2, x_rot * 3.14159f / 180.0f, 0, 0);
RotateVertex(v3, x_rot * 3.14159f / 180.0f, 0, 0);
RotateVertex(v1, 0, y_rot * 3.14159f / 180.0f, 0);
RotateVertex(v2, 0, y_rot * 3.14159f / 180.0f, 0);
RotateVertex(v3, 0, y_rot * 3.14159f / 180.0f, 0);
Vertex correction(p_x, p_y, p_z);
RotateVertex(correction, x_rot * 3.14159f / 180.0f, 0, 0);
TranslateVertex(v1, -correction.x, -correction.y, -correction.z);
TranslateVertex(v2, -correction.x, -correction.y, -correction.z);
TranslateVertex(v3, -correction.x, -correction.y, -correction.z);
RotateVertex(v1, p_x_rot, 0, 0);
RotateVertex(v2, p_x_rot, 0, 0);
RotateVertex(v3, p_x_rot, 0, 0);
RotateVertex(v1, 0, -p_y_rot, 0);
RotateVertex(v2, 0, -p_y_rot, 0);
RotateVertex(v3, 0, -p_y_rot, 0);
RotateVertex(v1, 0, 0, p_z_rot);
RotateVertex(v2, 0, 0, p_z_rot);
RotateVertex(v3, 0, 0, p_z_rot);
TranslateVertex(v1, correction.x, correction.y, correction.z);
TranslateVertex(v2, correction.x, correction.y, correction.z);
TranslateVertex(v3, correction.x, correction.y, correction.z);
RotateVertex(v1, 0, 0, z_rot * 3.14159f / 180.0f);
RotateVertex(v2, 0, 0, z_rot * 3.14159f / 180.0f);
RotateVertex(v3, 0, 0, z_rot * 3.14159f / 180.0f);
ScaleVertex(v1, x_scale, y_scale, z_scale);
ScaleVertex(v2, x_scale, y_scale, z_scale);
ScaleVertex(v3, x_scale, y_scale, z_scale);
TranslateVertex(v1, x_tile, y_tile, z_tile);
TranslateVertex(v2, x_tile, y_tile, z_tile);
TranslateVertex(v3, x_tile, y_tile, z_tile);
TranslateVertex(v1, x, y, z);
TranslateVertex(v2, x, y, z);
TranslateVertex(v3, x, y, z);
float t = v1.x;
v1.x = v1.y;
v1.y = t;
t = v2.x;
v2.x = v2.y;
v2.y = t;
t = v3.x;
v3.x = v3.y;
v3.y = t;
if (poly.vis != 0) {
verts.push_back(v1);
verts.push_back(v2);
verts.push_back(v3);
indices.push_back((uint32)verts.size() - 3);
indices.push_back((uint32)verts.size() - 2);
indices.push_back((uint32)verts.size() - 1);
}
}
}
}
uint32 ter_quad_count = (quads_per_tile * quads_per_tile);
uint32 ter_vert_count = ((quads_per_tile + 1) * (quads_per_tile + 1));
std::vector<uint8> flags;
std::vector<float> floats;
flags.resize(ter_quad_count);
floats.resize(ter_vert_count);
for (uint32 i = 0; i < tile_count; ++i) {
bool flat;
flat = *(bool*)buf;
buf += sizeof(bool);
float x;
x = *(float*)buf;
buf += sizeof(float);
float y;
y = *(float*)buf;
buf += sizeof(float);
if (flat) {
float z;
z = *(float*)buf;
buf += sizeof(float);
float QuadVertex1X = x;
float QuadVertex1Y = y;
float QuadVertex1Z = z;
float QuadVertex2X = QuadVertex1X + (quads_per_tile * units_per_vertex);
float QuadVertex2Y = QuadVertex1Y;
float QuadVertex2Z = QuadVertex1Z;
float QuadVertex3X = QuadVertex2X;
float QuadVertex3Y = QuadVertex1Y + (quads_per_tile * units_per_vertex);
float QuadVertex3Z = QuadVertex1Z;
float QuadVertex4X = QuadVertex1X;
float QuadVertex4Y = QuadVertex3Y;
float QuadVertex4Z = QuadVertex1Z;
uint32 current_vert = (uint32)verts.size() + 3;
verts.push_back(Vertex(QuadVertex1X, QuadVertex1Y, QuadVertex1Z));
verts.push_back(Vertex(QuadVertex2X, QuadVertex2Y, QuadVertex2Z));
verts.push_back(Vertex(QuadVertex3X, QuadVertex3Y, QuadVertex3Z));
verts.push_back(Vertex(QuadVertex4X, QuadVertex4Y, QuadVertex4Z));
indices.push_back(current_vert);
indices.push_back(current_vert - 2);
indices.push_back(current_vert - 1);
indices.push_back(current_vert);
indices.push_back(current_vert - 3);
indices.push_back(current_vert - 2);
}
else {
//read flags
for (uint32 j = 0; j < ter_quad_count; ++j) {
uint8 f;
f = *(uint8*)buf;
buf += sizeof(uint8);
flags[j] = f;
}
//read floats
for (uint32 j = 0; j < ter_vert_count; ++j) {
float f;
f = *(float*)buf;
buf += sizeof(float);
floats[j] = f;
}
int row_number = -1;
std::map<std::tuple<float, float, float>, uint32> cur_verts;
for (uint32 quad = 0; quad < ter_quad_count; ++quad) {
if ((quad % quads_per_tile) == 0) {
++row_number;
}
if (flags[quad] & 0x01)
continue;
float QuadVertex1X = x + (row_number * units_per_vertex);
float QuadVertex1Y = y + (quad % quads_per_tile) * units_per_vertex;
float QuadVertex1Z = floats[quad + row_number];
float QuadVertex2X = QuadVertex1X + units_per_vertex;
float QuadVertex2Y = QuadVertex1Y;
float QuadVertex2Z = floats[quad + row_number + quads_per_tile + 1];
float QuadVertex3X = QuadVertex1X + units_per_vertex;
float QuadVertex3Y = QuadVertex1Y + units_per_vertex;
float QuadVertex3Z = floats[quad + row_number + quads_per_tile + 2];
float QuadVertex4X = QuadVertex1X;
float QuadVertex4Y = QuadVertex1Y + units_per_vertex;
float QuadVertex4Z = floats[quad + row_number + 1];
uint32 i1, i2, i3, i4;
std::tuple<float, float, float> t = std::make_tuple(QuadVertex1X, QuadVertex1Y, QuadVertex1Z);
auto iter = cur_verts.find(t);
if (iter != cur_verts.end()) {
i1 = iter->second;
}
else {
i1 = (uint32)verts.size();
verts.push_back(Vertex(QuadVertex1X, QuadVertex1Y, QuadVertex1Z));
cur_verts[std::make_tuple(QuadVertex1X, QuadVertex1Y, QuadVertex1Z)] = i1;
}
t = std::make_tuple(QuadVertex2X, QuadVertex2Y, QuadVertex2Z);
iter = cur_verts.find(t);
if (iter != cur_verts.end()) {
i2 = iter->second;
}
else {
i2 = (uint32)verts.size();
verts.push_back(Vertex(QuadVertex2X, QuadVertex2Y, QuadVertex2Z));
cur_verts[std::make_tuple(QuadVertex2X, QuadVertex2Y, QuadVertex2Z)] = i2;
}
t = std::make_tuple(QuadVertex3X, QuadVertex3Y, QuadVertex3Z);
iter = cur_verts.find(t);
if (iter != cur_verts.end()) {
i3 = iter->second;
}
else {
i3 = (uint32)verts.size();
verts.push_back(Vertex(QuadVertex3X, QuadVertex3Y, QuadVertex3Z));
cur_verts[std::make_tuple(QuadVertex3X, QuadVertex3Y, QuadVertex3Z)] = i3;
}
t = std::make_tuple(QuadVertex4X, QuadVertex4Y, QuadVertex4Z);
iter = cur_verts.find(t);
if (iter != cur_verts.end()) {
i4 = iter->second;
}
else {
i4 = (uint32)verts.size();
verts.push_back(Vertex(QuadVertex4X, QuadVertex4Y, QuadVertex4Z));
cur_verts[std::make_tuple(QuadVertex4X, QuadVertex4Y, QuadVertex4Z)] = i4;
}
indices.push_back(i4);
indices.push_back(i2);
indices.push_back(i3);
indices.push_back(i4);
indices.push_back(i1);
indices.push_back(i2);
}
}
}
uint32 face_count = indices.size() / 3;
if (imp) {
imp->rm->release();
imp->rm = nullptr;
}
else {
imp = new impl;
}
imp->rm = createRaycastMesh((RmUint32)verts.size(), (const RmReal*)&verts[0], face_count, &indices[0]);
if (!imp->rm) {
delete imp;
imp = nullptr;
return false;
}
return true;
}
void Pyramid::createVAO(void)
{
struct pyramidVertexStride
{
float x;
float y;
float z;
float s;
float t;
float nx;
float ny;
float nz;
};
struct triangleList
{
unsigned short v1;
unsigned short v2;
unsigned short v3;
};
pyramidVertexStride pVerts[5];
triangleList pList[6];
#if 1
FileHandle fh2;
FileError ferror;
ferror = File::open(fh2, "pyramid.vbo", FILE_READ);
assert(ferror == FILE_SUCCESS);
ferror = File::read(fh2, &pVerts, 5 * sizeof(pyramidVertexStride));
assert(ferror == FILE_SUCCESS);
ferror = File::read(fh2, &pList, 6 * sizeof(triangleList));
assert(ferror == FILE_SUCCESS);
ferror = File::close(fh2);
assert(ferror == FILE_SUCCESS);
#else
// apex
pVerts[0].x = 0.0f;
pVerts[0].y = 1.0f;
pVerts[0].z = 0.0f;
pVerts[0].s = 0.5f;
pVerts[0].t = 0.5f;
pVerts[0].nx = 0.0f;
pVerts[0].ny = 2.0f;
pVerts[0].nz = 0.0f;
// left front
pVerts[1].x = -1.0f;
pVerts[1].y = -1.0f;
pVerts[1].z = 1.0f;//-1.0f;
pVerts[1].s = 0.0f;
pVerts[1].t = 0.0f;
pVerts[1].nx = -3.0f;
pVerts[1].ny = -5.0f;
pVerts[1].nz = -3.0f;
// right front
pVerts[2].x = 1.0f;
pVerts[2].y = -1.0f;
pVerts[2].z = 1.0f;
pVerts[2].s = 1.0f;
pVerts[2].t = 0.0f;
pVerts[2].nx = 3.0f;
pVerts[2].ny = -5.0f;
pVerts[2].nz = -3.0f;
// left back
pVerts[3].x = -1.0f;
pVerts[3].y = -1.0f;
pVerts[3].z = -1.0f;
pVerts[3].s = 0.0f;
pVerts[3].t = 1.0f;
pVerts[3].nx = -3.0f;
pVerts[3].ny = -5.0f;
pVerts[3].nz = 3.0f;
// right back
pVerts[4].x = 1.0f;
pVerts[4].y = -1.0f;
pVerts[4].z = -1.0f;
pVerts[4].s = 1.0f;
pVerts[4].t = 1.0f;
pVerts[4].nx = 3.0f;
pVerts[4].ny = -5.0f;
pVerts[4].nz = 3.0f;
// front
pList[0].v1 = 0;
pList[0].v2 = 1;
pList[0].v3 = 2;
// left
pList[1].v1 = 0;
pList[1].v2 = 3;
pList[1].v3 = 1;
// right
pList[2].v1 = 0;
pList[2].v2 = 2;
pList[2].v3 = 4;
// back
pList[3].v1 = 0;
pList[3].v2 = 4;
pList[3].v3 = 3;
// bottom 1
pList[4].v1 = 2;
pList[4].v2 = 1;
pList[4].v3 = 3;
// bottom 2
pList[5].v1 = 4;
pList[5].v2 = 2;
pList[5].v3 = 3;
//Write the data to a file ---------------------
FileHandle fh;
FileError ferror;
//-----------WRITE--------------------------------
ferror = File::open(fh, "pyramid.vbo", FILE_WRITE);
assert(ferror == FILE_SUCCESS);
//Write the data
ferror = File::write(fh, &pVerts, 5 * sizeof(pyramidVertexStride));
assert(ferror == FILE_SUCCESS);
ferror = File::write(fh, &pList, 6 * sizeof(triangleList));
assert(ferror == FILE_SUCCESS);
ferror = File::close(fh);
assert(ferror == FILE_SUCCESS);
#endif
if (test)
{
for( int i = 0; i<5; i++)
{
Matrix Trans(TRANS, 0.0f, 1.0f, 0.0f);
//Matrix Scale(SCALE, 1.0f, 0.5f, 1.0f);
Matrix Scale(SCALE, 0.3f, 0.1f, 0.3f);
Matrix Rot( ROT_X, 90.0f * MATH_PI_180);
Matrix M = Trans * Scale * Rot;
Matrix Scale2( SCALE, 13.0f, 13.0f, 109.43f);
Matrix Rot2;
Rot2.set(ROT_ORIENT, Vect(1.0f,0.0f,0.0f), Vect( 0.0f, 1.0f, 0.0f) );
M = M * Scale2 * Rot2;
//M = M * Scale2 ;
Vect vert( pVerts[i].x, pVerts[i].y, pVerts[i].z);
Vect vertNorm( pVerts[i].nx, pVerts[i].ny, pVerts[i].nz);
Vect vout;
Vect voutNorm;
vout = vert * M;
voutNorm = vertNorm * M;
pVerts[i].x = vout[x] ;
pVerts[i].y = vout[y] ;
pVerts[i].z = vout[z] ;
pVerts[i].nx = voutNorm[x];
pVerts[i].ny = voutNorm[y];
pVerts[i].nz = voutNorm[z];
printf(" vert[%d] %f %f %f\n",i, vout[x], vout[y], vout[z]);
}
}
/* Allocate and assign a Vertex Array Object to our handle */
glGenVertexArrays(1, &this->vao);
/* Bind our Vertex Array Object as the current used object */
glBindVertexArray(this->vao);
//Create two buffers
GLuint vbo[2];
/* Allocate and assign two Vertex Buffer Objects to our handle */
glGenBuffers(2, vbo);
// Load the combined data: ---------------------------------------------------------
/* Bind our first VBO as being the active buffer and storing vertex attributes (coordinates) */
glBindBuffer(GL_ARRAY_BUFFER, vbo[0]);
/* Copy the vertex data to our buffer */
// glBufferData(type, size in bytes, data, usage)
glBufferData(GL_ARRAY_BUFFER, sizeof(pyramidVertexStride) * 5, &pVerts, GL_STATIC_DRAW);
// VERTEX data: ---------------------------------------------------------
// Set Attribute to 0
// WHY - 0? and not 1,2,3 (this is tied to the shader attribute, it is defined in GLShaderManager.h)
// GLT_ATTRIBUTE_VERTEX = 0
// Specifies the index of the generic vertex attribute to be enabled
glEnableVertexAttribArray(0);
//Compute offset
void *offsetVert = (void *)((unsigned int)&pVerts[0].x - (unsigned int)&pVerts);
/* Specify that our coordinate data is going into attribute index 0, and contains 3 floats per vertex */
// ( GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const GLvoid * pointer);
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, sizeof(pyramidVertexStride), offsetVert);
// Texture data: ---------------------------------------------------------
// Set Attribute to 3
// WHY - 3? and not 1,2,3 (this is tied to the shader attribute, it is defined in GLShaderManager.h)
// GLT_ATTRIBUTE_TEXTURE0 = 3
// Specifies the index of the generic vertex attribute to be enabled
glEnableVertexAttribArray(3);
//Compute offset
void *offsetTex = (void *)((unsigned int)&pVerts[0].s - (unsigned int)&pVerts);
/* Specify that our coordinate data is going into attribute index 3, and contains 2 floats per vertex */
// ( GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const GLvoid * pointer);
glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, sizeof(pyramidVertexStride), offsetTex);
// Normal data: ---------------------------------------------------------
// Set Attribute to 2
// WHY - 2? and not 1,2,3 (this is tied to the shader attribute, it is defined in GLShaderManager.h)
// GLT_ATTRIBUTE_NORMAL = 2
// Specifies the index of the generic vertex attribute to be enabled
glEnableVertexAttribArray(2);
//Compute offset
void *offsetNorm = (void *)((unsigned int)&pVerts[0].nx - (unsigned int)&pVerts);
/* Specify that our coordinate data is going into attribute index 3, and contains 2 floats per vertex */
// ( GLuint index, GLint size, GLenum type, GLboolean normalized, GLsizei stride, const GLvoid * pointer);
glVertexAttribPointer(2, 3, GL_FLOAT, GL_FALSE, sizeof(pyramidVertexStride), offsetNorm);
// Load the index data: ---------------------------------------------------------
/* Bind our 2nd VBO as being the active buffer and storing index ) */
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vbo[1]);
/* Copy the index data to our buffer */
// glBufferData(type, size in bytes, data, usage)
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(triangleList)*6, pList, GL_STATIC_DRAW);
}
void core_numbers(const Graph& g, KCoreMap kcm, PositionMap pos)
{
typedef typename graph_traits<Graph>::vertex_descriptor vertex;
typedef typename graph_traits<Graph>::degree_size_type size_type;
BGL_FORALL_VERTICES_T(v,g,Graph)
{
kcm[v] = 0;
}
// compute the degree of all vertices
BGL_FORALL_EDGES_T(e,g,Graph)
{
++kcm[source(e,g)];
}
size_type max_deg = 0;
// compute the maximum degree
BGL_FORALL_VERTICES_T(v,g,Graph)
{
if (kcm[v] > max_deg)
{
max_deg = kcm[v];
}
}
// now we sort vertices into bins by their degree
// (we buffer this vector by 2 extra spots to make
// some of the computations easier.
// 1. because deg > 0, we need max_deg+1 to index w/ deg itself
// 2. because we want to make things really easy, we extend
// the array one past degree to make computing partial_sums
// trivial
std::vector<size_type> bin(max_deg+2);
// compute the size of each bin
BGL_FORALL_VERTICES_T(v,g,Graph)
{
++bin[kcm[v]];
}
// this loop sets bin[d] to the starting position of vertices
// with degree d in the vert array
size_type cur_pos = 0;
for (size_type cur_deg = 0; cur_deg < max_deg+2; ++cur_deg)
{
size_type tmp = bin[cur_deg];
bin[cur_deg] = cur_pos;
cur_pos += tmp;
}
// place the vertices
std::vector<vertex> vert(num_vertices(g));
BGL_FORALL_VERTICES_T(v,g,Graph)
{
pos[v] = bin[kcm[v]];
vert[pos[v]] = v;
++bin[kcm[v]];
}
/*===========================================================================*/
void StochasticUniformGridRenderer::Engine::create_shader_program( const kvs::StructuredVolumeObject* volume )
{
// Build bounding cube shader.
{
kvs::ShaderSource vert("RC_bounding_cube.vert");
kvs::ShaderSource frag("RC_bounding_cube.frag");
m_bounding_cube_shader.build( vert, frag );
}
// Build ray caster.
{
kvs::ShaderSource vert("SR_uniform_grid.vert");
kvs::ShaderSource frag("SR_uniform_grid.frag");
if ( isEnabledShading() )
{
switch ( shader().type() )
{
case kvs::Shader::LambertShading: frag.define("ENABLE_LAMBERT_SHADING"); break;
case kvs::Shader::PhongShading: frag.define("ENABLE_PHONG_SHADING"); break;
case kvs::Shader::BlinnPhongShading: frag.define("ENABLE_BLINN_PHONG_SHADING"); break;
default: /* NO SHADING */ break;
}
}
m_ray_casting_shader.build( vert, frag );
}
// Set uniform variables.
const kvs::Vector3ui r = volume->resolution();
const kvs::Real32 max_ngrids = static_cast<kvs::Real32>( kvs::Math::Max( r.x(), r.y(), r.z() ) );
const kvs::Vector3f resolution( static_cast<float>(r.x()), static_cast<float>(r.y()), static_cast<float>(r.z()) );
const kvs::Vector3f ratio( r.x() / max_ngrids, r.y() / max_ngrids, r.z() / max_ngrids );
const kvs::Vector3f reciprocal( 1.0f / r.x(), 1.0f / r.y(), 1.0f / r.z() );
kvs::Real32 min_range = 0.0f;
kvs::Real32 max_range = 0.0f;
kvs::Real32 min_value = m_transfer_function.colorMap().minValue();
kvs::Real32 max_value = m_transfer_function.colorMap().maxValue();
const std::type_info& type = volume->values().typeInfo()->type();
if ( type == typeid( kvs::UInt8 ) )
{
min_range = 0.0f;
max_range = 255.0f;
if ( !m_transfer_function.hasRange() )
{
min_value = 0.0f;
max_value = 255.0f;
}
}
else if ( type == typeid( kvs::Int8 ) )
{
min_range = static_cast<kvs::Real32>( kvs::Value<kvs::UInt8>::Min() );
max_range = static_cast<kvs::Real32>( kvs::Value<kvs::UInt8>::Max() );
if ( !m_transfer_function.hasRange() )
{
min_value = -128.0f;
max_value = 127.0f;
}
}
else if ( type == typeid( kvs::UInt16 ) )
{
min_range = static_cast<kvs::Real32>( kvs::Value<kvs::UInt16>::Min() );
max_range = static_cast<kvs::Real32>( kvs::Value<kvs::UInt16>::Max() );
if ( !m_transfer_function.hasRange() )
{
min_value = static_cast<kvs::Real32>( volume->minValue() );
max_value = static_cast<kvs::Real32>( volume->maxValue() );
}
}
else if ( type == typeid( kvs::Int16 ) )
{
min_range = static_cast<kvs::Real32>( kvs::Value<kvs::Int16>::Min() );
max_range = static_cast<kvs::Real32>( kvs::Value<kvs::Int16>::Max() );
if ( !m_transfer_function.hasRange() )
{
min_value = static_cast<kvs::Real32>( volume->minValue() );
max_value = static_cast<kvs::Real32>( volume->maxValue() );
}
}
else if ( type == typeid( kvs::UInt32 ) || type == typeid( kvs::Int32 ) || type == typeid( kvs::Real32 ) )
{
min_range = 0.0f;
max_range = 1.0f;
min_value = 0.0f;
max_value = 1.0f;
}
else
{
kvsMessageError( "Not supported data type '%s'.", volume->values().typeInfo()->typeName() );
}
m_ray_casting_shader.bind();
m_ray_casting_shader.setUniform( "volume.resolution", resolution );
m_ray_casting_shader.setUniform( "volume.resolution_ratio", ratio );
m_ray_casting_shader.setUniform( "volume.resolution_reciprocal", reciprocal );
m_ray_casting_shader.setUniform( "volume.min_range", min_range );
m_ray_casting_shader.setUniform( "volume.max_range", max_range );
m_ray_casting_shader.setUniform( "transfer_function.min_value", min_value );
m_ray_casting_shader.setUniform( "transfer_function.max_value", max_value );
m_ray_casting_shader.setUniform( "dt", m_step );
m_ray_casting_shader.setUniform( "shading.Ka", shader().Ka );
m_ray_casting_shader.setUniform( "shading.Kd", shader().Kd );
m_ray_casting_shader.setUniform( "shading.Ks", shader().Ks );
m_ray_casting_shader.setUniform( "shading.S", shader().S );
m_ray_casting_shader.unbind();
}
