ObjAxis3ImpGL::ObjAxis3ImpGL(Point3f origin, float size, bool bShow)
{
m_origin = origin;
m_axisX.reset(ObjFactoryImpGL::GetInstance()->CreateLine(origin, origin.AddX(size), 0xAAff0000));
m_axisY.reset(ObjFactoryImpGL::GetInstance()->CreateLine(origin, origin.AddY(size), 0xAA00ff00));
m_axisZ.reset(ObjFactoryImpGL::GetInstance()->CreateLine(origin, origin.AddZ(size), 0xAAffff00));
}
/// Return false if the particle is dead
bool advance(float dt)
{
if (curtime >= t0 + maxlife)
return false;
// gravity
vit.z() -= gravity * dt;
// update
pos += vit * dt;
// collision
if (pos.z() < 0)
{
float dv = vit.z();
pos.z() = 0;
if (dv < 0)
{
vit.z() = -0.8f * vit.z();
last_col = curtime; //-d;
}
}
// color
float c = curtime - last_col;
if (c > 1)
c = 1;
color.x() = 1 - c;
return true;
}
void Polygon::rotate(const Point3f& p1, const Point3f& p2, float a) {
Point3f u = p2 - p1;
u /= u.length();
float cosa = cos(a / 180 * PI);
float sina = sin(a / 180 * PI);
float onec = 1 - cosa;
Matrix rot(3, 3);
rot[0][0] = u.x * u.x * onec + cosa;
rot[0][1] = u.x * u.y * onec - u.z * sina;
rot[0][2] = u.x * u.z * onec + u.y * sina;
rot[1][0] = u.y * u.x * onec + u.z * sina;
rot[1][1] = u.y * u.y * onec + cosa;
rot[1][2] = u.z * u.y * onec + u.x * sina;
rot[2][0] = u.x * u.z * onec + u.y * sina;
rot[2][1] = u.y * u.z * onec - u.x * sina;
rot[2][2] = u.z * u.z * onec + cosa;
for (int i = 0; i < _vertices.size(); i++) {
Point3f p = _vertices[i] - p1;
Matrix v(3, 1);
v[0][0] = p.x; v[1][0] = p.y; v[2][0] = p.z;
Matrix r = rot * v;
p.x = r[0][0]; p.y = r[1][0]; p.z = r[2][0];
_vertices[i] = p + p1;
}
}
void GlobalFun::find_original_neighbors(CGrid::iterator starta, CGrid::iterator enda,
CGrid::iterator startb, CGrid::iterator endb, double radius)
{
double radius2 = radius*radius;
double iradius16 = -4/radius2;
const double PI = 3.1415926;
for(CGrid::iterator dest = starta; dest != enda; dest++)
{
CVertex &v = *(*dest);
Point3f &p = v.P();
for(CGrid::iterator origin = startb; origin != endb; origin++)
{
CVertex &t = *(*origin);
Point3f &q = t.P();
Point3f diff = p-q;
double dist2 = diff.SquaredNorm();
if(dist2 < radius2)
{
v.original_neighbors.push_back((*origin)->m_index);
}
}
}
}
std::vector<float> CalBarycentric(const std::vector<Point2f> &points, Point2f tf)
{
Point3f p1 = Point3f(points[0].x, points[0].y, 0.0f);
Point3f p2 = Point3f(points[1].x, points[1].y, 0.0f);
Point3f p3 = Point3f(points[2].x, points[2].y, 0.0f);
Point3f f(tf.x, tf.y, 0.0f);
Point3f f1 = p1 - f;
Point3f f2 = p2 - f;
Point3f f3 = p3 - f;
Point3f va = (p1 - p2).cross(p1 - p3);
Point3f va1 = f2.cross(f3);
Point3f va2 = f3.cross(f1);
Point3f va3 = f1.cross(f2);
float a = CalLength(va);
float a1 = CalLength(va1) / a * sign(va.dot(va1));
float a2 = CalLength(va2) / a * sign(va.dot(va2));
float a3 = CalLength(va3) / a * sign(va.dot(va3));
std::vector<float> w;
w.push_back(a1);
w.push_back(a2);
w.push_back(a3);
return w;
}
void WLOP::computeRepulsionTerm(CMesh* samples)
{
double repulsion_power = para->getDouble("Repulsion Power");
bool need_density = para->getBool("Need Compute Density");
double radius = para->getDouble("CGrid Radius");
double radius2 = radius * radius;
double iradius16 = -para->getDouble("H Gaussian Para")/radius2;
cout << endl<< endl<< "Sample Neighbor Size:" << samples->vert[0].neighbors.size() << endl<< endl;
for(int i = 0; i < samples->vert.size(); i++)
{
CVertex& v = samples->vert[i];
for (int j = 0; j < v.neighbors.size(); j++)
{
CVertex& t = samples->vert[v.neighbors[j]];
Point3f diff = v.P() - t.P();
double dist2 = diff.SquaredNorm();
double len = sqrt(dist2);
if(len <= 0.001 * radius) len = radius*0.001;
double w = exp(dist2*iradius16);
double rep = w * pow(1.0 / len, repulsion_power);
if (need_density)
{
rep *= samples_density[t.m_index];
}
repulsion[i] += diff * rep;
repulsion_weight_sum[i] += rep;
}
}
}
static void ioMB_exportSkeleton(const BrfSkeleton &s){
for (int i=0; i<(int)s.bone.size(); i++) {
const BrfBone &bone(s.bone[i]);
fprintf(f,"createNode joint -n \"%s\" ",substitute(bone.name,'.','_'));
if (bone.attach!=-1)
fprintf(f,"-p \"%s\" ",substitute(s.bone[bone.attach].name,'.','_'));
fprintf(f,";\n");
float *abc;
abc = matrix2euler(s.getRotationMatrix( i ).transpose() );
Point3f t = bone.t;
if (bone.attach==-1) { float tmp=t[1]; t[1]=t[2]; t[2]=tmp;}
t.X()*=-1;
t.Y()*=-1;
t*=SCALE;
fprintf(f,
"\taddAttr -ci true -sn \"liw\" -ln \"lockInfluenceWeights\" -bt \"lock\" -min 0 -max 1 -at \"bool\";\n"
"\tsetAttr \".uoc\" yes;\n"
"\tsetAttr \".t\" -type \"double3\" %f %f %f ;\n"
"\tsetAttr \".r\" -type \"double3\" %f %f %f ;\n"
"\tsetAttr \".mnrl\" -type \"double3\" -360 -360 -360 ;\n"
"\tsetAttr \".mxrl\" -type \"double3\" 360 360 360 ;\n",
-t[0],t[2],-t[1],
abc[0]*180/M_PI,abc[1]*180/M_PI,abc[2]*180/M_PI
);
//qDebug()<< "[" << i << "]: abc" << abc[0]*180/M_PI << abc[1]*180/M_PI <<abc[2]*180/M_PI <<"\n";
}
}
WavefrontOBJ(const PropertyList &propList) {
typedef boost::unordered_map<OBJVertex, uint32_t, OBJVertexHash> VertexMap;
/* Process the OBJ-file line by line */
QString filename = propList.getString("filename");
QFile input(filename);
if (!input.open(QIODevice::ReadOnly | QIODevice::Text))
throw NoriException(QString("Cannot open \"%1\"").arg(filename));
Transform trafo = propList.getTransform("toWorld", Transform());
cout << "Loading \"" << qPrintable(filename) << "\" .." << endl;
m_name = filename;
QTextStream stream(&input);
QTextStream line;
QString temp, prefix;
std::vector<Point3f> positions;
std::vector<Point2f> texcoords;
std::vector<Normal3f> normals;
std::vector<uint32_t> indices;
std::vector<OBJVertex> vertices;
VertexMap vertexMap;
while (!(temp = stream.readLine()).isNull()) {
line.setString(&temp);
line >> prefix;
if (prefix == "v") {
Point3f p;
line >> p.x() >> p.y() >> p.z();
p = trafo * p;
positions.push_back(p);
} else if (prefix == "vt") {
/**
* \brief Evaluate sigma_t(p), where 'p' is given in local coordinates
*
* You may assume that the maximum value returned by this function is
* equal to 'm_densityMultiplier'
*/
float lookupSigmaT(const Point3f &_p) const {
Point3f p = _p.cwiseProduct(m_resolution.cast<float>()),
pf = Point3f(std::floor(p.x()), std::floor(p.y()), std::floor(p.z()));
Point3i p0 = pf.cast<int>();
if ((p0.array() < 0).any() || (p0.array() >= m_resolution.array() - 1).any())
return 0.0f;
size_t row = m_resolution.x(),
slab = row * m_resolution.y(),
offset = p0.z()*slab + p0.y()*row + p0.x();
const float
d000 = m_data[offset],
d001 = m_data[offset + 1],
d010 = m_data[offset + row],
d011 = m_data[offset + row + 1],
d100 = m_data[offset + slab],
d101 = m_data[offset + slab + 1],
d110 = m_data[offset + slab + row],
d111 = m_data[offset + slab + row + 1];
Vector3f w1 = p-pf, w0 = (1 - w1.array()).matrix();
/* Trilinearly interpolate */
return (((d000 * w0.x() + d001 * w1.x()) * w0.y() +
(d010 * w0.x() + d011 * w1.x()) * w1.y()) * w0.z() +
((d100 * w0.x() + d101 * w1.x()) * w0.y() +
(d110 * w0.x() + d111 * w1.x()) * w1.y()) * w1.z()) * m_densityMultiplier;
}
void GetRandPlane(Box3f &bb, Plane3f &plane)
{
Point3f planeCenter = bb.Center();
Point3f planeDir = Point3f(-0.5f+float(rand())/RAND_MAX,-0.5f+float(rand())/RAND_MAX,-0.5f+float(rand())/RAND_MAX);
planeDir.Normalize();
plane.Init(planeCenter+planeDir*0.3f*bb.Diag()*float(rand())/RAND_MAX,planeDir);
}
vector<Point2f> findCorner(const Mat& img, int idx)
{
stringstream ss;
ss << idx;
string iname = ss.str();
Mat img_gray, d_edges;
Mat line1 = img.clone(), line2 = img.clone(), line3 = img.clone();
Size imgSize = img.size();
cvtColor(img, img_gray, CV_BGR2GRAY);
//GaussianBlur(img_gray, img_gray, Size(3, 3), 0, 0);
// edges detector
Canny(img_gray, d_edges, 50, 300);
imwrite("imgEdge" + iname + ".jpg", d_edges);
vector<Vec2f> lines;
// hough lines detector
HoughLines(d_edges, lines, 1, CV_PI/180, 50);
line1 = drawHoughLines(lines, img);
imwrite("imgSlines" + iname + ".jpg", line1);
VHLINE vh;
vector<Vec2f> vlines, hlines;
vh = divideVHLines(lines);
// sort two directional lines
sort(vh.vlines.begin(), vh.vlines.end(), sortVLines);
sort(vh.hlines.begin(), vh.hlines.end(), sortHLines);
// get unique lines
vlines = groupLines(vh.vlines, imgSize, 15.0);
hlines = groupLines(vh.hlines, imgSize, 15.0);
line2 = drawHoughLines(vlines, img);
line3 = drawHoughLines(hlines, line2);
imwrite("imglines" + iname + ".jpg", line3);
vector<Point2f> corners;
// get two orthogonal lines' intersection as corners
for(size_t i = 0; i < hlines.size(); i++)
{
Point3d hline = getHoughHC(hlines[i]);
for(size_t j = 0; j < vlines.size(); j++)
{
Point3f vline = getHoughHC(vlines[j]);
Point3f corner = vline.cross(hline);
normHC(corner);
corners.push_back(Point2d(corner.x, corner.y));
}
}
// refine corners
cornerSubPix(img_gray, corners, Size(15,15), Size(-1,-1),
TermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS, 30, 0.01));
return corners;
}
void GraphicsPainter::drawSphere(const Point3f ¢er, float radius)
{
glPushMatrix();
glTranslated(center.x(), center.y(), center.z());
drawSphere(radius);
glPopMatrix();
}
// kernal that produce ray direction texture
void PhotonMapperGPU::EyeKernel()
{
#ifndef STUB_PHOTONMAPPERGPU
// figure out necessary eye vectors
Vector3f nn, vv, uu;
// nn.set(eyePos.x - look.x, eyePos.y - look.y, eyePos.z - look.z); // make n
// uu.set(up.cross(nn)); // make u = up X n
// nn.normalize(); uu.normalize(); // make them unit length
// vv.set(nn.cross(uu)); // make v = n X u
nn = m_pCamera->N();
vv = m_pCamera->V();
uu = m_pCamera->U();
Point3f eyePos = m_pCamera->GetEye();
// firgure out world width and height
float sH = m_pCamera->GetNearClipPlane() * tan( m_pCamera->GetViewAngle() * (3.1415/360));
float sW = sH * m_pCamera->GetAspect();
// cout << eyePos.x << " " << eyePos.y << " " << eyePos.z << endl;
// cout << sH << " " << sW << endl;
CShader& ray = m_ShaderManager->GetShader(RAY);
CGparameter& n = ray.GetNamedParameter("IN2.n");
cgGLSetParameter3f(n, nn.X(), nn.Y(), nn.Z());
CGparameter& v = ray.GetNamedParameter("IN2.v");
cgGLSetParameter3f(v, vv.X(), vv.Y(), vv.Z());
CGparameter& u = ray.GetNamedParameter("IN2.u");
cgGLSetParameter3f(u, uu.X(), uu.Y(), uu.Z());
CGparameter& view = ray.GetNamedParameter("IN2.view");
cgGLSetParameter2f(view, m_pixelCols, m_pixelRows);
CGparameter& world = ray.GetNamedParameter("IN2.world");
cgGLSetParameter2f(world, sW, sH);
CGparameter& nearDist = ray.GetNamedParameter("IN2.nearDist");
cgGLSetParameter1f(nearDist, m_pCamera->GetNearClipPlane());
CGparameter& eye = ray.GetNamedParameter("eyePos");
cgGLSetParameter3f(eye, eyePos.X(), eyePos.Y(), eyePos.Z());
ray.Bind();
ray.Enable();
Workspace();
ray.Disable();
#endif // STUB_PHOTONMAPPERGPU
}
Point3f RandomUnitVec(){
Point3f k;
do {
k=Point3f(
(random(200)-100)*0.01,
(random(200)-100)*0.01,
(random(200)-100)*0.01
);
} while (k.SquaredNorm()>1.0);
return k.Normalize();
}
/// Multiplies \p point by the inverse of the transform.
Point3f GraphicsTransform::inverseMultiplyPoint(const Point3f &point) const
{
Eigen::Matrix<float, 4, 1> vector4;
vector4[0] = point.x();
vector4[1] = point.y();
vector4[2] = point.z();
vector4[3] = 1;
vector4 = m_matrix->inverse() * vector4;
return Point3f(vector4[0], vector4[1], vector4[2]);
}
//
// Check if the given vertex is visible on the current user view
// This method is used for rendering vertices labels, and
// rendering edges/faces
// Returns: true if visible
bool edit_topo::isVertexVisible(Point3f v)
{
float pix;
double tx,ty,tz;
gluProject(v.X(),v.Y(),v.Z(), mvmatrix,projmatrix,viewport, &tx,&ty,&tz);
glReadPixels(tx,ty,1,1,GL_DEPTH_COMPONENT,GL_FLOAT,&pix);
float ff = fabs(tz - pix);
return ((ff < 0.003));
}
void WLOP::computeAverageTerm(CMesh* samples, CMesh* original)
{
double average_power = para->getDouble("Average Power");
bool need_density = para->getBool("Need Compute Density");
double radius = para->getDouble("CGrid Radius");
double radius2 = radius * radius;
double iradius16 = -para->getDouble("H Gaussian Para")/radius2;
cout << "Original Size:" << samples->vert[0].original_neighbors.size() << endl;
for(int i = 0; i < samples->vert.size(); i++)
{
CVertex& v = samples->vert[i];
for (int j = 0; j < v.original_neighbors.size(); j++)
{
CVertex& t = original->vert[v.original_neighbors[j]];
Point3f diff = v.P() - t.P();
double dist2 = diff.SquaredNorm();
double w = 1;
if (para->getBool("Run Anisotropic LOP"))
{
double len = sqrt(dist2);
if(len <= 0.001 * radius) len = radius*0.001;
double hn = diff * v.N();
double phi = exp(hn * hn * iradius16);
w = phi / pow(len, 2 - average_power);
}
else if (average_power < 2)
{
double len = sqrt(dist2);
if(len <= 0.001 * radius) len = radius*0.001;
w = exp(dist2 * iradius16) / pow(len, 2 - average_power);
}
else
{
w = exp(dist2 * iradius16);
}
if (need_density)
{
w *= original_density[t.m_index];
}
average[i] += t.P() * w;
average_weight_sum[i] += w;
}
}
}
//---------------------------------------------------------
void FSMAIControl::UpdatePerceptions(float dt)
{
if(m_willCollide)
m_safetyRadius = 30.0f;
else
m_safetyRadius = 15.0f;
//store closest asteroid and powerup
m_nearestAsteroid = Game.GetClosestGameObj(m_ship,GameObj::OBJ_ASTEROID);
m_nearestPowerup = Game.GetClosestGameObj(m_ship,GameObj::OBJ_POWERUP);
//asteroid collision determination
m_willCollide = false;
if(m_nearestAsteroid)
{
float speed = m_ship->m_velocity.Length();
m_nearestAsteroidDist = m_nearestAsteroid->m_position.Distance(m_ship->m_position);
Point3f normDelta = m_nearestAsteroid->m_position - m_ship->m_position;
normDelta.Normalize();
float astSpeed = m_nearestAsteroid->m_velocity.Length();
float shpSpeedAdj = DOT(m_ship->UnitVectorVelocity(),normDelta)*speed;
float astSpeedAdj = DOT(m_nearestAsteroid->UnitVectorVelocity(),-normDelta)*astSpeed;
speed = shpSpeedAdj+astSpeedAdj;
// if(speed > astSpeed)
// dotVel = DOT(m_ship->UnitVectorVelocity(),normDelta);
// else
// {
// speed = astSpeed;
// dotVel = DOT(m_nearestAsteroid->UnitVectorVelocity(),-normDelta);
// }
float spdAdj = LERP(speed/m_maxSpeed,0.0f,90.0f);
float adjSafetyRadius = m_safetyRadius+spdAdj+m_nearestAsteroid->m_size;
//if you're too close, and I'm heading somewhat towards you,
//flag a collision
if(m_nearestAsteroidDist <= adjSafetyRadius && speed > 0)
m_willCollide = true;
}
//powerup near determination
m_powerupNear = false;
if(m_nearestPowerup)
{
m_nearestPowerupDist = m_nearestPowerup->m_position.Distance(m_ship->m_position);
if(m_nearestPowerupDist <= POWERUP_SCAN_DIST)
{
m_powerupNear = true;
}
}
}
float GetVelocity(CMeshO::CoordType o_p,CMeshO::CoordType n_p,CMeshO::FacePointer f,CMeshO::CoordType g,float m,float v){
Point3f n=f->N();
float b=n[0]*g[0]+n[1]*g[1]+n[2]*g[2];
float distance=Distance(o_p,n_p);
Point3f force;
force[0]=g[0]-b*n[0];
force[1]=g[1]-b*n[1];
force[2]=g[2]-b*n[2];
if(force.Norm()==0) return 0;
float acceleration=(force/m).Norm();
float n_v=math::Sqrt(pow(v,2)+(2*acceleration*distance));
return n_v;
}
// Algorithm:
// plane equation: P*N + c = 0
// we find point rays in 3D from image points and camera parameters
// then we fit c by minimizing average L2 distance between rotated and translated object points
// and points found by crossing point rays with plane. We use the fact that center of mass
// of object points and fitted points should coincide.
void findPlanarObjectPose(const vector<Point3f>& _object_points, const Mat& image_points, const Point3f& normal,
const Mat& intrinsic_matrix, const Mat& distortion_coeffs, double& alpha, double& C, vector<Point3f>& object_points_crf)
{
vector<Point2f> _rays;
undistortPoints(image_points, _rays, intrinsic_matrix, distortion_coeffs);
// filter out rays that are parallel to the plane
vector<Point3f> rays;
vector<Point3f> object_points;
for(size_t i = 0; i < _rays.size(); i++)
{
Point3f ray(_rays[i].x, _rays[i].y, 1.0f);
double proj = ray.dot(normal);
if(fabs(proj) > std::numeric_limits<double>::epsilon())
{
rays.push_back(ray*(1.0/ray.dot(normal)));
object_points.push_back(_object_points[i]);
}
}
Point3f pc = massCenter(rays);
Point3f p0c = massCenter(object_points);
vector<Point3f> drays;
drays.resize(rays.size());
for(size_t i = 0; i < rays.size(); i++)
{
drays[i] = rays[i] - pc;
object_points[i] -= p0c;
}
double s1 = 0.0, s2 = 0.0, s3 = 0.0;
for(size_t i = 0; i < rays.size(); i++)
{
Point3f vprod = crossProduct(drays[i], object_points[i]);
s1 += vprod.dot(normal);
s2 += drays[i].dot(object_points[i]);
s3 += drays[i].dot(drays[i]);
}
alpha = atan2(s1, s2);
C = (s2*cos(alpha) + s1*sin(alpha))/s3;
// printf("alpha = %f, C = %f\n", alpha, C);
object_points_crf.resize(rays.size());
for(size_t i = 0; i < rays.size(); i++)
{
object_points_crf[i] = rays[i]*C;
}
}
static
void computeCorrespsFiltered(const Mat& K, const Mat& K_inv, const Mat& Rt,
const Mat& depth0, const Mat& validMask0,
const Mat& depth1, const Mat& selectMask1, float maxDepthDiff,
Mat& corresps,
const Mat& normals0, const Mat& transformedNormals1,
const Mat& image0, const Mat& image1)
{
const double maxNormalsDiff = 30; // in degrees
const double maxColorDiff = 50;
const double maxNormalAngleDev = 75; // in degrees
computeCorresps(K, K_inv, Rt, depth0, validMask0, depth1, selectMask1,
maxDepthDiff, corresps);
const Point3f Oz_inv(0,0,-1); // TODO replace by vector to camera position?
for(int v0 = 0; v0 < corresps.rows; v0++)
{
for(int u0 = 0; u0 < corresps.cols; u0++)
{
int c = corresps.at<int>(v0, u0);
if(c != -1)
{
Point3f curNormal = normals0.at<Point3f>(v0,u0);
curNormal *= 1./cv::norm(curNormal);
if(std::abs(curNormal.ddot(Oz_inv)) < std::cos(maxNormalAngleDev / 180 * CV_PI))
{
corresps.at<int>(v0, u0) = -1;
continue;
}
int u1, v1;
get2shorts(c, u1, v1);
Point3f transfPrevNormal = transformedNormals1.at<Point3f>(v1,u1);
transfPrevNormal *= 1./cv::norm(transfPrevNormal);
if(std::abs(curNormal.ddot(transfPrevNormal)) < std::cos(maxNormalsDiff / 180 * CV_PI))
{
corresps.at<int>(v0, u0) = -1;
continue;
}
if(std::abs(image0.at<uchar>(v0,u0) - image1.at<uchar>(v1,u1)) > maxColorDiff)
{
corresps.at<int>(v0, u0) = -1;
continue;
}
}
}
}
}
int main( int argc, char **argv )
{
if(argc<2)
{
printf("Usage trimesh_base <meshfilename.ply>\n");
return -1;
}
MyMesh m,em,cm,full;
if(tri::io::ImporterPLY<MyMesh>::Open(m,argv[1])!=0)
{
printf("Error reading file %s\n",argv[1]);
exit(0);
}
tri::UpdateFlags<MyMesh>::FaceBorderFromFF(m);
tri::UpdateNormals<MyMesh>::PerVertexNormalized(m);
tri::UpdateBounding<MyMesh>::Box(m);
printf("Input mesh vn:%i fn:%i\n",m.vn,m.fn);
printf( "Mesh has %i vert and %i faces\n", m.vn, m.fn );
srand(time(0));
Plane3f slicingPlane;
Point3f planeCenter = m.bbox.Center();
for(int i=0;i<10;++i)
{
cm.Clear();
em.Clear();
Point3f planeDir = Point3f(-0.5f+float(rand())/RAND_MAX,-0.5f+float(rand())/RAND_MAX,-0.5f+float(rand())/RAND_MAX);
planeDir.Normalize();
printf("slicing dir %5.2f %5.2f %5.2f\n",planeDir[0],planeDir[1],planeDir[2]);
slicingPlane.Init(planeCenter+planeDir*0.3f*m.bbox.Diag()*float(rand())/RAND_MAX,planeDir);
vcg::IntersectionPlaneMesh<MyMesh, MyMesh, float>(m, slicingPlane, em );
tri::Clean<MyMesh>::RemoveDuplicateVertex(em);
vcg::tri::CapEdgeMesh(em,cm);
printf(" edge mesh vn %5i en %5i fn %5i\n",em.vn,em.en,em.fn);
printf("sliced mesh vn %5i en %5i fn %5i\n",cm.vn,cm.en,cm.fn);
tri::Append<MyMesh,MyMesh>::Mesh(full,cm);
}
tri::io::ExporterPLY<MyMesh>::Save(full,"out.ply",false);
return 0;
}
static Point3f findRayIntersection(Point3f k1, Point3f b1, Point3f k2, Point3f b2)
{
float a[4], b[2], x[2];
a[0] = k1.dot(k1);
a[1] = a[2] = -k1.dot(k2);
a[3] = k2.dot(k2);
b[0] = k1.dot(b2 - b1);
b[1] = k2.dot(b1 - b2);
Mat_<float> A(2, 2, a), B(2, 1, b), X(2, 1, x);
solve(A, B, X);
float s1 = X.at<float>(0, 0);
float s2 = X.at<float>(1, 0);
return (k1*s1 + b1 + k2*s2 + b2)*0.5f;
};
CMeshO::CoordType getVelocityComponent(float v,CMeshO::FacePointer f,CMeshO::CoordType g){
CMeshO::CoordType cV;
Point3f n= f->N();
float a=n[0]*g[0]+n[1]*g[1]+n[2]*g[2];
Point3f d;
d[0]=g[0]-a*n[0];
d[1]=g[1]-a*n[1];
d[2]=g[2]-a*n[2];
cV=d/d.Norm();
cV.Normalize();
cV[0]=v*d[0];
cV[1]=v*d[1];
cV[2]=v*d[2];
return cV;
}
//
// Get visible vertex nearest to mouse position (from a given vertices list)
// Returns: true if visible
bool edit_topo::getVisibleVertexNearestToMouse(QList<Vtx> list, Vtx &out)
{
bool found = false;
double minDist = 100000;
int minIdx = -1;
Point3f t;
QList<Vtx> visib;
for(int i=0; i<list.count(); i++)
if(isVertexVisible(list.at(i).V))
visib.push_back(list.at(i));
QPoint mPos = QPoint(mousePos.x(), mouseRealY);
for(int i=0; i<visib.count(); i++)
{
Point3f p = visib.at(i).V;
double tx,ty,tz;
gluProject(p.X(),p.Y(),p.Z(), mvmatrix,projmatrix,viewport, &tx,&ty,&tz);
QPoint qp = QPoint(tx, ty);
// faster distance
//double dx = fabs((double)(qp.x() - mPos.x()));
//double dy = fabs((double)(qp.y() - mPos.y()));
//double dist = (dy > dx) ? 0.41*dx+0.941246*dy : 0.41*dy+0.941246*dx;
double dist = sqrt((double)(math::Sqr(qp.x() - mPos.x()) + math::Sqr(qp.y() - mPos.y())));
if(dist<minDist)
{
minDist = dist;
minIdx = i;
found = true;
}
}
if(found)
{
for(int j=0; j<list.count(); j++)
if(list.at(j).vName==visib.at(minIdx).vName)
{
out = list.at(j);
return true;
}
}
return false;
}
/// Returns the depth of point in the scene.
float GraphicsView::depth(const Point3f &point) const
{
Eigen::Matrix<float, 4, 1> viewPoint;
viewPoint[0] = point.x();
viewPoint[1] = point.y();
viewPoint[2] = point.z();
viewPoint[3] = 1;
GraphicsTransform transform = projectionTransform() * modelViewTransform();
viewPoint = transform.multiply(viewPoint);
viewPoint *= 1.0 / viewPoint[3];
float winZ = (viewPoint[2] + 1) / 2;
return winZ;
}
void SPHSystem::computeForce()
{
int i, j, s, numNei;
float dij;
float term1, term2;
Point3f vij;
Point3f pf, vf, tf, gf, cf;
//#pragma omp parallel for private( j, nId, numNei, d, term1, term2, dv, pf, vf, tf, gf )
for(i=0; i<p.size(); ++i) {
pf.Set(0,0,0);
vf.Set(0,0,0);
tf.Set(0,0,0);
numNei = p[i]->pq.getSize();
for(s=1; s<=numNei; ++s) {
j = p[i]->pq.queue[s];
if(i==j) continue;
term1 = p[i]->p/(p[i]->d*p[i]->d);
term2 = p[j]->p/(p[j]->d*p[j]->d);
vij = *p[i]-*p[j];
dij = vij.Length();
// pressure force
pf += (term1+term2)*p[j]->m*k->pw1(dij)*vij;
// viscosity force
vf += p[j]->m*k->vw2(dij)*(p[j]->v-p[i]->v);
// surface tension
}
pf = -p[i]->d*pf;
vf = (X/p[i]->d)*vf;
gf = p[i]->d*Point3f(0.0f, -GR, 0.0f);
if(p[i]->n.Length() < ( SIM_DIM==2 ? 0.6f : 3.0f) ) // for 2d < 0.6 , 3d < 3.0
tf.Zero();
else
tf = -p[i]->lapc*p[i]->n.GetNormalized();
p[i]->tf = tf;
p[i]->pf = pf;
p[i]->vf = vf;
p[i]->a = (pf+vf+gf+tf)/p[i]->d;
}
}
void SPHSystem::computeDensityPressure()
{
int i, j, s, numNei;
float lapc, c, d;
float w;
float vj; // volumn
float lenij; // length (i,j)
Point3f n;
Point3f vecij; // vector (i,j)
for(i=0; i<p.size(); ++i) {
p[i]->vol = p[i]->m/p[i]->d;
}
#pragma omp parallel for private(s, j, numNei, lapc, c, d, w, vj, lenij, n, vecij )
for(i=0; i<p.size(); ++i) {
lapc = 0;
c = 0;
d = 0;
n.Zero();
numNei = p[i]->pq.getSize();
for(s=1; s<=numNei; ++s) {
j = p[i]->pq.queue[s];
vj = p[j]->vol;
vecij = *p[i]-*p[j];
lenij = vecij.Length();
w = k->w(lenij);
c += p[j]->c*p[j]->m*(vj)*w;
n += p[j]->m*(vj)*k->w1(lenij)*(vecij);
lapc += p[j]->m*(vj)*k->w2(lenij);
d += p[j]->m*w;
}
p[i]->lapc = lapc; // laplacian of c
p[i]->c = c; // color field
p[i]->n = n; // inward surface normal
p[i]->d = d; // density
p[i]->p = (K*RHO/7.0f)*(pow((d/RHO),7.0f)-1); // pressure (Tait Equation, http://graphics.stanford.edu/~wicke/eg09-tutorial/coursenotes.pdf)
if(p[i]->p < 0) // correct pressure if p<0
p[i]->p *= Z; // reduce it to a tiny number (~=0)
}
}
Spectrum PerspectiveSensor::sampleRay(Ray3f& ray, const Point2f& samplePosition, const Point2f& apertureSample) const
{
Point3f nearPoint = m_sampleToCamera * Point3f(
samplePosition.x() * m_invImageSize.x(),
samplePosition.y() * m_invImageSize.y(), 0.f);
Vector3f dir = nearPoint.normalized();
float invZ = 1.f / dir.z();
ray.o = m_cameraToWorld * Point3f(0.f, 0.f, 0.f);
ray.d = m_cameraToWorld * dir;
ray.minT = m_nearClip * invZ;
ray.maxT = m_farClip * invZ;
ray.update();
return Spectrum(1.f);
}
void GraphicsPainter::drawCylinder(const Point3f &a, const Point3f &b, float radius)
{
glPushMatrix();
glTranslatef(a.x(), a.y(), a.z());
Vector3f vector = (a - b).normalized();
Vector3f axis = vector.cross(-Vector3f::UnitZ()).normalized();
float angle = chemkit::geometry::angle(vector.cast<Real>(), -Vector3f::UnitZ().cast<Real>());
glRotatef(-angle, axis.x(), axis.y(), axis.z());
float length = chemkit::geometry::distance(a.cast<Real>(), b.cast<Real>());
drawCylinder(radius, length);
glPopMatrix();
}