void RenderManager::centerObjects() {
glm::vec3 minPt((std::numeric_limits<float>::max)(), (std::numeric_limits<float>::max)(), (std::numeric_limits<float>::max)());
glm::vec3 maxPt = -minPt;
// もとのサイズを計算
for (auto it = objects.begin(); it != objects.end(); ++it) {
for (auto it2 = it.value().begin(); it2 != it.value().end(); ++it2) {
for (int k = 0; k < it2->vertices.size(); ++k) {
minPt.x = (std::min)(minPt.x, it2->vertices[k].position.x);
minPt.y = (std::min)(minPt.y, it2->vertices[k].position.y);
minPt.z = (std::min)(minPt.z, it2->vertices[k].position.z);
maxPt.x = (std::max)(maxPt.x, it2->vertices[k].position.x);
maxPt.y = (std::max)(maxPt.y, it2->vertices[k].position.y);
maxPt.z = (std::max)(maxPt.z, it2->vertices[k].position.z);
}
}
}
glm::vec3 center = (maxPt + minPt) * 0.5f;
float size = (std::max)(maxPt.x - minPt.x, (std::max)(maxPt.y - minPt.y, maxPt.z - minPt.z));
float scale = 1.0f / size;
// 単位立方体に入るよう、縮尺・移動
for (auto it = objects.begin(); it != objects.end(); ++it) {
for (auto it2 = it.value().begin(); it2 != it.value().end(); ++it2) {
for (int k = 0; k < it2->vertices.size(); ++k) {
it2->vertices[k].position = (it2->vertices[k].position - center) * scale;
}
}
}
}
void MkLineShape::__Update(const MkSceneTransform* parentTransform)
{
m_WorldVertices.Clear();
m_WorldDepth = m_LocalDepth;
m_AABR.Clear();
if (!m_LocalVertices.Empty())
{
// transform
if (parentTransform == NULL) // 부모 노드가 없음
{
m_WorldVertices = m_LocalVertices;
}
else // 자체 transform이 없으므로 부모 노드의 것을 그대로 사용
{
parentTransform->GetWorldVertices(m_LocalVertices, m_WorldVertices);
m_WorldDepth += parentTransform->GetWorldDepth();
}
// aabb
MkFloat2 minPt(m_WorldVertices[0]);
MkFloat2 maxPt(m_WorldVertices[0]);
MK_INDEXING_LOOP(m_WorldVertices, i)
{
const MkFloat2& vertex = m_WorldVertices[i];
minPt.CompareAndKeepMin(vertex);
maxPt.CompareAndKeepMax(vertex);
}
m_AABR.position = minPt;
m_AABR.size = maxPt - minPt;
}
}
void GroundPlane::projectFrustum( const Frustum& frustum, F32 squareSize, Point2F& outMin, Point2F& outMax )
{
// Get the frustum's min and max XY coordinates.
const Box3F bounds = frustum.getBounds();
Point2F minPt( bounds.minExtents.x, bounds.minExtents.y );
Point2F maxPt( bounds.maxExtents.x, bounds.maxExtents.y );
// Round the min and max coordinates so they align on the grid.
minPt.x -= mFmod( minPt.x, squareSize );
minPt.y -= mFmod( minPt.y, squareSize );
F32 maxDeltaX = mFmod( maxPt.x, squareSize );
F32 maxDeltaY = mFmod( maxPt.y, squareSize );
if( maxDeltaX != 0.0f )
maxPt.x += ( squareSize - maxDeltaX );
if( maxDeltaY != 0.0f )
maxPt.y += ( squareSize - maxDeltaY );
// Add a safezone, so we don't touch the clipping planes.
minPt.x -= squareSize; minPt.y -= squareSize;
maxPt.x += squareSize; maxPt.y += squareSize;
outMin = minPt;
outMax = maxPt;
}
void Enemies::CreateBoundingBox()
{
//
// Compute scene bounding box.
//
XMFLOAT3 minPt(+MathHelper::Infinity, +MathHelper::Infinity, +MathHelper::Infinity);
XMFLOAT3 maxPt(-MathHelper::Infinity, -MathHelper::Infinity, -MathHelper::Infinity);
for (UINT i = 0; i < mEnemyInstances.size(); ++i)
{
minPt.x = 0.0f;
minPt.y = 0.0f;
minPt.z = 0.0f;
maxPt.x = 0.0f;
maxPt.y = 0.0f;
maxPt.z = 0.0f;
for (UINT j = 0; j < mEnemyInstances[i].Model->BasicVertices.size(); ++j)
{
XMFLOAT3 P = mEnemyInstances[i].Model->BasicVertices[j].Pos;
//////multiply all these by 7
minPt.x = MathHelper::Min(minPt.x, P.x);
minPt.y = MathHelper::Min(minPt.y, P.y);
minPt.z = MathHelper::Min(minPt.z, P.z);
maxPt.x = MathHelper::Max(maxPt.x, P.x);
maxPt.y = MathHelper::Max(maxPt.y, P.y);
maxPt.z = MathHelper::Max(maxPt.z, P.z);
}
XMMATRIX temp = XMLoadFloat4x4(&mEnemyInstances[i].World);
enemyclass[i]->setWorld(mEnemyInstances[i].World);
XMVECTOR Scale;
XMVECTOR Position;
XMVECTOR Rotation;
XMMatrixDecompose(&Scale, &Rotation, &Position, temp);
XMFLOAT3 tempPos;
XMStoreFloat3(&tempPos, Position);
LevelCollisions[i].Center = tempPos;
LevelCollisions[i].Extents = XMFLOAT3(0.5f*(maxPt.x - minPt.x),
0.5f*(maxPt.y - minPt.y),
0.5f*(maxPt.z - minPt.z));
LevelCollisions[i].collisionType = enemyclass[i]->getcollisiontype();
FLOAT scale = enemyclass[i]->getScale();
LevelCollisions[i].Extents.x = LevelCollisions[i].Extents.x * scale;
LevelCollisions[i].Extents.y = LevelCollisions[i].Extents.y * scale;
LevelCollisions[i].Extents.z = LevelCollisions[i].Extents.z * scale;
EnemyBox.collisionType = 1;
enemyclass[i]->setAABB(&LevelCollisions[i]);
}
}
box2f GraphPane::updateGraphBounds() {
float2 minPt(std::numeric_limits<float>::max());
float2 maxPt(std::numeric_limits<float>::min());
for (GraphDataPtr& curve : curves) {
for (float2& pt : curve->points) {
minPt = aly::min(pt, minPt);
maxPt = aly::max(pt, maxPt);
}
}
graphBounds = box2f(minPt, maxPt - minPt);
return graphBounds;
}
void GroundPlane::projectFrustum( const Frustum& _frustum, F32 squareSize, Point2F& outMin, Point2F& outMax )
{
// Go through all the frustum's corner points and mark
// the min and max XY coordinates.
// transform the frustum to plane object space
Frustum frustum = _frustum;
frustum.mulL( mWorldToObj );
Point2F minPt( F32_MAX, F32_MAX );
Point2F maxPt( F32_MIN, F32_MIN );
for( U32 i = 0; i < Frustum::CornerPointCount; ++ i )
{
const Point3F& point = frustum.getPoint( i );
if( point.x < minPt.x )
minPt.x = point.x;
if( point.y < minPt.y )
minPt.y = point.y;
if( point.x > maxPt.x )
maxPt.x = point.x;
if( point.y > maxPt.y )
maxPt.y = point.y;
}
// Round the min and max coordinates so they align on the grid.
minPt.x -= mFmod( minPt.x, squareSize );
minPt.y -= mFmod( minPt.y, squareSize );
F32 maxDeltaX = mFmod( maxPt.x, squareSize );
F32 maxDeltaY = mFmod( maxPt.y, squareSize );
if( maxDeltaX != 0.0f )
maxPt.x += ( squareSize - maxDeltaX );
if( maxDeltaY != 0.0f )
maxPt.y += ( squareSize - maxDeltaY );
// Add a safezone, so we don't touch the clipping planes.
minPt.x -= squareSize; minPt.y -= squareSize;
maxPt.x += squareSize; maxPt.y += squareSize;
outMin = minPt;
outMax = maxPt;
}
AABB DBVH::createAABBFromObjList( const ObjectList& objList )
{
AABB box;
float minX, minY, minZ, maxX, maxY, maxZ;
minX = minY = minZ = FLT_MAX;
maxX = maxY = maxZ = -FLT_MAX;
//Find the minimum and maximum x y and z points
for(unsigned i = 0; i < objList.size(); ++i)
{
const Object& obj = objList[i];
Pt minPt = obj.boundingBox.center - obj.boundingBox.extents;
Pt maxPt = obj.boundingBox.center + obj.boundingBox.extents;
if(minPt.x < minX)
minX = minPt.x;
if(maxPt.x > maxX)
maxX = maxPt.x;
if(minPt.y < minY)
minY = minPt.y;
if(maxPt.y > maxY)
maxY = maxPt.y;
if(minPt.z < minZ)
minZ = minPt.z;
if(maxPt.z > maxZ)
maxZ = maxPt.z;
}
//Extents are just width/height/depth / 2
box.extents.x = abs(maxX - minX) * 0.5f;
box.extents.y = abs(maxY - minY) * 0.5f;
box.extents.z = abs(maxZ - minZ) * 0.5f;
//Center is just the min point plus the extents
Pt minPt(minX, minY, minZ);
box.center = minPt + box.extents;
return box;
}
void Bvh::update(std::list<IModel*> &modelList)
{
if(!bTree)
return;
primList.clear();
Point3 minPt(POS_INF, POS_INF,POS_INF);
Point3 maxPt(-POS_INF,-POS_INF,-POS_INF);
myTriSize = 0;
std::list<IModel*>::iterator model;
std::list<IPrimitive*>::iterator p;
for( model = modelList.begin(); model != modelList.end(); model++ )
{
myTriSize += (*model)->GetPrimitiveCount();
// update uniform grids min and max values;
minPt.X() = min((*model)->MinPoint().X(), minPt.X());
minPt.Y() = min((*model)->MinPoint().Y(), minPt.Y());
minPt.Z() = min((*model)->MinPoint().Z(), minPt.Z());
maxPt.X() = max((*model)->MaxPoint().X(), maxPt.X());
maxPt.Y() = max((*model)->MaxPoint().Y(), maxPt.Y());
maxPt.Z() = max((*model)->MaxPoint().Z(), maxPt.Z());
std::list<IPrimitive*>* pl = &(*model)->getPrimitiveList();
for ( p = pl->begin(); p != pl->end(); p++ )
{
primList.push_back( (*p) );
}
}
myBound = AABB( minPt, maxPt );
unsigned int *temp = new unsigned int[myTriSize];
// check as we go
trace(0, temp, 0);
delete [] temp;
bTree[0].bound = myBound;
}
/*
Function: UpdateHapticMapping
Usage: UpdateHapticMapping();
---------------------------------------------------------------------------
Use the current OpenGL viewing transforms to initialize a transform for the
haptic device workspace so that it's properly mapped to world coordinates.
*/
void UpdateHapticMapping(void)
{
GLdouble modelview[16];
GLdouble projection[16];
GLint viewport[4];
glGetDoublev(GL_MODELVIEW_MATRIX, modelview);
glGetDoublev(GL_PROJECTION_MATRIX, projection);
glGetIntegerv(GL_VIEWPORT, viewport);
hlMatrixMode(HL_TOUCHWORKSPACE);
hlLoadIdentity();
/* fit haptic workspace to the bound of the deformable surface */
hduVector3Dd minPt(-kSurfaceSize / 2.0, -kSurfaceSize / 2.0, -kSurfaceSize / 2.0);
hduVector3Dd maxPt(kSurfaceSize / 2.0, kSurfaceSize / 2.0, kSurfaceSize / 2.0);
hluFitWorkspaceBox(modelview, minPt, maxPt);
/* compute cursor scale */
mCursorScale = hluScreenToModelScale(modelview, projection, viewport);
const int CURSOR_SIZE_PIXELS = 20;
mCursorScale *= CURSOR_SIZE_PIXELS;
}
void srs_env_model::CCollisionGridPlugin::newMapDataCB(SMapWithParameters & par)
{
// init projected 2D map:
m_data->header.frame_id = par.frameId;
m_data->header.stamp = par.currentTime;
m_crawlDepth = par.treeDepth;
bool sizeChanged(false);
// TODO: move most of this stuff into c'tor and init map only once (adjust if size changes)
double minX, minY, minZ, maxX, maxY, maxZ;
par.map->getTree().getMetricMin(minX, minY, minZ);
par.map->getTree().getMetricMax(maxX, maxY, maxZ);
octomap::point3d minPt(minX, minY, minZ);
octomap::point3d maxPt(maxX, maxY, maxZ);
octomap::OcTreeKey minKey, maxKey, curKey;
if (!par.map->getTree().genKey(minPt, minKey)){
ROS_ERROR("Could not create min OcTree key at %f %f %f", minPt.x(), minPt.y(), minPt.z());
return;
}
if (!par.map->getTree().genKey(maxPt, maxKey)){
ROS_ERROR("Could not create max OcTree key at %f %f %f", maxPt.x(), maxPt.y(), maxPt.z());
return;
}
par.map->getTree().genKeyAtDepth(minKey, par.treeDepth, minKey);
par.map->getTree().genKeyAtDepth(maxKey, par.treeDepth, maxKey);
ROS_DEBUG("MinKey: %d %d %d / MaxKey: %d %d %d", minKey[0], minKey[1], minKey[2], maxKey[0], maxKey[1], maxKey[2]);
// add padding if requested (= new min/maxPts in x&y):
double halfPaddedX = 0.5*m_minSizeX;
double halfPaddedY = 0.5*m_minSizeY;
minX = std::min(minX, -halfPaddedX);
maxX = std::max(maxX, halfPaddedX);
minY = std::min(minY, -halfPaddedY);
maxY = std::max(maxY, halfPaddedY);
minPt = octomap::point3d(minX, minY, minZ);
maxPt = octomap::point3d(maxX, maxY, maxZ);
octomap::OcTreeKey paddedMaxKey;
if (!par.map->getTree().genKey(minPt, m_paddedMinKey)){
ROS_ERROR("Could not create padded min OcTree key at %f %f %f", minPt.x(), minPt.y(), minPt.z());
return;
}
if (!par.map->getTree().genKey(maxPt, paddedMaxKey)){
ROS_ERROR("Could not create padded max OcTree key at %f %f %f", maxPt.x(), maxPt.y(), maxPt.z());
return;
}
par.map->getTree().genKeyAtDepth(m_paddedMinKey, par.treeDepth, m_paddedMinKey);
par.map->getTree().genKeyAtDepth(paddedMaxKey, par.treeDepth, paddedMaxKey);
ROS_DEBUG("Padded MinKey: %d %d %d / padded MaxKey: %d %d %d", m_paddedMinKey[0], m_paddedMinKey[1], m_paddedMinKey[2], paddedMaxKey[0], paddedMaxKey[1], paddedMaxKey[2]);
assert(paddedMaxKey[0] >= maxKey[0] && paddedMaxKey[1] >= maxKey[1]);
m_multires2DScale = 1 << (par.treeDepth - m_crawlDepth);
unsigned int newWidth = (paddedMaxKey[0] - m_paddedMinKey[0])/m_multires2DScale +1;
unsigned int newHeight = (paddedMaxKey[1] - m_paddedMinKey[1])/m_multires2DScale +1;
if (newWidth != m_data->info.width || newHeight != m_data->info.height)
sizeChanged = true;
m_data->info.width = newWidth;
m_data->info.height = newHeight;
int mapOriginX = minKey[0] - m_paddedMinKey[0];
int mapOriginY = minKey[1] - m_paddedMinKey[1];
assert(mapOriginX >= 0 && mapOriginY >= 0);
// might not exactly be min / max of octree:
octomap::point3d origin;
par.map->getTree().genCoords(m_paddedMinKey, m_crawlDepth, origin);
double gridRes = par.map->getTree().getNodeSize(par.treeDepth);
m_data->info.resolution = gridRes;
m_data->info.origin.position.x = origin.x() - gridRes*0.5;
m_data->info.origin.position.y = origin.y() - gridRes*0.5;
// std::cerr << "Origin: " << origin << ", grid resolution: " << gridRes << ", computed origin: "<< mapOriginX << ".." << mapOriginY << std::endl;
if (par.treeDepth != m_crawlDepth){
m_data->info.origin.position.x -= par.resolution/2.0;
m_data->info.origin.position.y -= par.resolution/2.0;
}
if (sizeChanged){
ROS_INFO("2D grid map size changed to %d x %d", m_data->info.width, m_data->info.height);
m_data->data.clear();
// init to unknown:
m_data->data.resize(m_data->info.width * m_data->info.height, -1);
}
tButServerOcTree & tree( par.map->getTree() );
srs_env_model::tButServerOcTree::leaf_iterator it, itEnd( tree.end_leafs() );
// Crawl through nodes
for ( it = tree.begin_leafs(m_crawlDepth); it != itEnd; ++it)
{
// Node is occupied?
if (tree.isNodeOccupied(*it))
{
handleOccupiedNode(it, par);
}// Node is occupied?
else
{
handleFreeNode( it, par );
}
} // Iterate through octree
m_DataTimeStamp = par.currentTime;
invalidate();
}
bool DuckHuntMain::Init()
{
if (!D3DApp::Init())
return false;
// Must init Effects first since InputLayouts depend on shader signatures.
Effects::InitAll(md3dDevice);
InputLayouts::InitAll(md3dDevice);
RenderStates::InitAll(md3dDevice);
mCrosshair = new Crosshair(md3dDevice);
mTexMgr.Init(md3dDevice);
DuckHuntMain::ShowCursors(false);
mSky = new Sky(md3dDevice, L"Textures/desertcube1024.dds", 5000.0f);
mSmap = new ShadowMap(md3dDevice, SMapSize, SMapSize);
Terrain::InitInfo tii;
tii.HeightMapFilename = L"Textures/myT5.raw";
tii.LayerMapFilename0 = L"Textures/grass.dds";
tii.LayerMapFilename1 = L"Textures/darkdirt.dds";
tii.LayerMapFilename2 = L"Textures/stone.dds";
tii.LayerMapFilename3 = L"Textures/lightdirt.dds";
tii.LayerMapFilename4 = L"Textures/snow.dds";
tii.BlendMapFilename = L"Textures/blend.dds";
tii.HeightScale = 50.0f;
tii.HeightmapWidth = 2049;
tii.HeightmapHeight = 2049;
tii.CellSpacing = 0.5f;
mTerrain.Init(md3dDevice, md3dImmediateContext, tii);
//Sound
result = FMOD::System_Create(&mSystem);
result = mSystem->init(32, FMOD_INIT_NORMAL, 0);
result = mSystem->createSound("Sounds/GunFire.wav", FMOD_DEFAULT, 0, &mGunFire);
result = mGunFire->setMode(FMOD_LOOP_OFF);
mCam.SetLens(0.25f*MathHelper::Pi, AspectRatio(), 1.0f, 1000.0f);
mSsao = new Ssao(md3dDevice, md3dImmediateContext, mClientWidth, mClientHeight, mCam.GetFovY(), mCam.GetFarZ());
BuildScreenQuadGeometryBuffers();
testModelDuck = new BasicModel(md3dDevice, mTexMgr, "Models\\duck.obj", L"Textures\\DUCK.jpg");
BasicModelInstance testInstanceDuck;
BasicModelInstance testInstanceDuck2;
BasicModelInstance testInstanceDuck3;
BasicModelInstance testInstanceDuck4;
testInstanceDuck.Model = testModelDuck;
testInstanceDuck2.Model = testModelDuck;
testInstanceDuck3.Model = testModelDuck;
testInstanceDuck4.Model = testModelDuck;
//Duck 1
XMMATRIX modelScale = XMMatrixScaling(1.0f, 1.0f, -1.0f);
XMMATRIX modelRot = XMMatrixRotationY(0.0f);
XMMATRIX modelOffset = XMMatrixTranslation(0.0f, 0.0f, 0.0f);
//Duck 2
XMMATRIX modelScale2 = XMMatrixScaling(2.0f, 2.0f, -1.0f);
XMMATRIX modelRot2 = XMMatrixRotationY(-1.0f);
XMMATRIX modelOffset2 = XMMatrixTranslation(1.0f, 1.0f, -1.0f);
//Duck3
XMMATRIX modelScale3 = XMMatrixScaling(1.5f, 1.5f, 1.5f);
XMMATRIX modelRot3 = XMMatrixRotationY(0.5f);
XMMATRIX modelOffset3 = XMMatrixTranslation(2.0f, 1.0f, -1.0f);
//Duck4
XMMATRIX modelScale4 = XMMatrixScaling(0.5f, 0.5f, -1.0f);
XMMATRIX modelRot4 = XMMatrixRotationY(1.0f);
XMMATRIX modelOffset4 = XMMatrixTranslation(0.5f, 1.0f, -1.0f);
//Duck 1
XMStoreFloat4x4(&testInstanceDuck.World, modelScale*modelRot*modelOffset);
mModelInstances.push_back(testInstanceDuck);
//Duck 2
XMStoreFloat4x4(&testInstanceDuck2.World, modelScale2*modelRot2*modelOffset2);
mModelInstances.push_back(testInstanceDuck2);
//Duck 3
XMStoreFloat4x4(&testInstanceDuck3.World, modelScale3*modelRot3*modelOffset3);
mModelInstances.push_back(testInstanceDuck3);
//Duck 4
XMStoreFloat4x4(&testInstanceDuck4.World, modelScale4*modelRot4*modelOffset4);
mModelInstances.push_back(testInstanceDuck4);
//create collision box
for (unsigned i = 0; i < mModelInstances.size(); i++)
{
mModelInstances[i].Model->CreateCollisionBox(mModelInstances[i].Model->BasicVertices);
}
//
// Compute scene bounding box.
//
XMFLOAT3 minPt(+MathHelper::Infinity, +MathHelper::Infinity, +MathHelper::Infinity);
XMFLOAT3 maxPt(-MathHelper::Infinity, -MathHelper::Infinity, -MathHelper::Infinity);
for (UINT i = 0; i < mModelInstances.size(); ++i)
{
for (UINT j = 0; j < mModelInstances[i].Model->BasicVertices.size(); ++j)
{
XMFLOAT3 P = mModelInstances[i].Model->BasicVertices[j].Pos;
minPt.x = MathHelper::Min(minPt.x, P.x);
minPt.y = MathHelper::Min(minPt.x, P.x);
minPt.z = MathHelper::Min(minPt.x, P.x);
maxPt.x = MathHelper::Max(maxPt.x, P.x);
maxPt.y = MathHelper::Max(maxPt.x, P.x);
maxPt.z = MathHelper::Max(maxPt.x, P.x);
}
}
//
// Derive scene bounding sphere from bounding box.
//
mSceneBounds.Center = XMFLOAT3(
0.5f*(minPt.x + maxPt.x),
0.5f*(minPt.y + maxPt.y),
0.5f*(minPt.z + maxPt.z));
XMFLOAT3 extent(
0.5f*(maxPt.x - minPt.x),
0.5f*(maxPt.y - minPt.y),
0.5f*(maxPt.z - minPt.z));
mSceneBounds.Radius = sqrtf(extent.x*extent.x + extent.y*extent.y + extent.z*extent.z);
return true;
}
void srs_env_model::CMap2DPlugin::newMapDataCB(SMapWithParameters & par)
{
m_data->header.frame_id = m_map2DFrameId;
m_data->header.stamp = par.currentTime;
m_data->info.resolution = par.resolution;
m_ocFrameId = par.frameId;
ros::Time timestamp( par.currentTime );
tf::StampedTransform ocToMap2DTf;
m_bConvert = m_ocFrameId != m_map2DFrameId;
// Get transform
try {
// Transformation - to, from, time, waiting time
m_tfListener.waitForTransform(m_map2DFrameId, m_ocFrameId,
timestamp, ros::Duration(5));
m_tfListener.lookupTransform(m_map2DFrameId, m_ocFrameId,
timestamp, ocToMap2DTf);
} catch (tf::TransformException& ex) {
ROS_ERROR_STREAM("Transform error: " << ex.what() << ", quitting callback");
PERROR( "Transform error.");
return;
}
Eigen::Matrix4f ocToMap2DTM;
// Get transformation matrix
pcl_ros::transformAsMatrix(ocToMap2DTf, ocToMap2DTM);
const tButServerOcMap &map(*par.map);
// Disassemble translation and rotation
m_ocToMap2DRot = ocToMap2DTM.block<3, 3> (0, 0);
m_ocToMap2DTrans = ocToMap2DTM.block<3, 1> (0, 3);
double minX, minY, minZ, maxX, maxY, maxZ;
map.getTree().getMetricMin(minX, minY, minZ);
map.getTree().getMetricMax(maxX, maxY, maxZ);
octomap::point3d minPt(minX, minY, minZ);
octomap::point3d maxPt(maxX, maxY, maxZ);
octomap::OcTreeKey minKey, maxKey, curKey;
// Try to create key
if (!map.getTree().genKey(minPt, minKey)) {
ROS_ERROR("Could not create min OcTree key at %f %f %f", minPt.x(), minPt.y(), minPt.z());
return;
}
if (!map.getTree().genKey(maxPt, maxKey)) {
ROS_ERROR("Could not create max OcTree key at %f %f %f", maxPt.x(), maxPt.y(), maxPt.z());
return;
}
ROS_DEBUG("MinKey: %d %d %d / MaxKey: %d %d %d", minKey[0], minKey[1], minKey[2], maxKey[0], maxKey[1], maxKey[2]);
// add padding if requested (= new min/maxPts in x&y):
double halfPaddedX = 0.5 * m_minSizeX;
double halfPaddedY = 0.5 * m_minSizeY;
minX = std::min(minX, -halfPaddedX);
maxX = std::max(maxX, halfPaddedX);
minY = std::min(minY, -halfPaddedY);
maxY = std::max(maxY, halfPaddedY);
minPt = octomap::point3d(minX, minY, minZ);
maxPt = octomap::point3d(maxX, maxY, maxZ);
octomap::OcTreeKey paddedMaxKey;
if (!map.getTree().genKey(minPt, m_paddedMinKey)) {
ROS_ERROR("Could not create padded min OcTree key at %f %f %f", minPt.x(), minPt.y(), minPt.z());
return;
}
if (!map.getTree().genKey(maxPt, paddedMaxKey)) {
ROS_ERROR("Could not create padded max OcTree key at %f %f %f", maxPt.x(), maxPt.y(), maxPt.z());
return;
}
ROS_DEBUG("Padded MinKey: %d %d %d / padded MaxKey: %d %d %d", m_paddedMinKey[0], m_paddedMinKey[1],
m_paddedMinKey[2], paddedMaxKey[0], paddedMaxKey[1], paddedMaxKey[2]);
assert(paddedMaxKey[0] >= maxKey[0] && paddedMaxKey[1] >= maxKey[1]);
m_data->info.width = paddedMaxKey[0] - m_paddedMinKey[0] + 1;
m_data->info.height = paddedMaxKey[1] - m_paddedMinKey[1] + 1;
int mapOriginX = minKey[0] - m_paddedMinKey[0];
int mapOriginY = minKey[1] - m_paddedMinKey[1];
assert(mapOriginX >= 0 && mapOriginY >= 0);
// might not exactly be min / max of octree:
octomap::point3d origin;
map.getTree().genCoords(m_paddedMinKey, par.treeDepth, origin);
m_data->info.origin.position.x = origin.x() - par.resolution* 0.5;
m_data->info.origin.position.y = origin.y() - par.resolution * 0.5;
// Allocate space to hold the data (init to unknown)
m_data->data.resize(m_data->info.width * m_data->info.height, -1);
tButServerOcTree & tree( par.map->getTree() );
srs_env_model::tButServerOcTree::leaf_iterator it, itEnd( tree.end_leafs() );
// Crawl through nodes
for ( it = tree.begin_leafs(m_crawlDepth); it != itEnd; ++it)
{
// Node is occupied?
if (tree.isNodeOccupied(*it))
{
handleOccupiedNode(it, par);
}// Node is occupied?
else
{
handleFreeNode( it, par );
}
} // Iterate through octree
invalidate();
}
void Bvh::build(std::list<IModel*> &modelList)
{
DWORD dwBuildTime = EncoreGetTime();
primList.clear();
// destory the old information regardless
deleteTree();
rightBOX.reserve(maxReserve);
Point3 minPt(POS_INF, POS_INF,POS_INF);
Point3 maxPt(-POS_INF,-POS_INF,-POS_INF);
myTriSize = 0;
std::list<IModel*>::iterator model;
std::list<IPrimitive*>::iterator p;
for( model = modelList.begin(); model != modelList.end(); model++ )
{
myTriSize += (*model)->GetPrimitiveCount();
// update uniform grids min and max values;
minPt.X() = min((*model)->MinPoint().X(), minPt.X());
minPt.Y() = min((*model)->MinPoint().Y(), minPt.Y());
minPt.Z() = min((*model)->MinPoint().Z(), minPt.Z());
maxPt.X() = max((*model)->MaxPoint().X(), maxPt.X());
maxPt.Y() = max((*model)->MaxPoint().Y(), maxPt.Y());
maxPt.Z() = max((*model)->MaxPoint().Z(), maxPt.Z());
std::list<IPrimitive*>* pl = &(*model)->getPrimitiveList();
for ( p = pl->begin(); p != pl->end(); p++ )
{
primList.push_back( (*p) );
}
}
myBound = AABB( minPt, maxPt );
// bvh size is always 2n-1
maxSize = 2*myTriSize-1;
bTree = new bvhNode[maxSize];//(bvhNode*)malloc((maxSize)*sizeof(bvhNode));
if(bTree == NULL)
{
printf("no memory to make bvh\n");
return;
}
try {
leftBOX = new IPrimitive*[myTriSize]; }
catch(std::bad_alloc&) {
printf("no memory"); return; }
m_NodeUsed = 1;
construct(0, 1, myTriSize, myBound, 0, 0);
// clear junk
//if(leftBOX)
// free(leftBOX);
//leftBOX = 0;
//rightBOX.clear();
maxReserve = rightBOX.size();
dwBuildTime = EncoreGetTime() - dwBuildTime;
}
void LevelBuilder::CreateBoundingBox()
{
//
// Compute scene bounding box.
//
XMFLOAT3 minPt(+MathHelper::Infinity, +MathHelper::Infinity, +MathHelper::Infinity);
XMFLOAT3 maxPt(-MathHelper::Infinity, -MathHelper::Infinity, -MathHelper::Infinity);
for (UINT i = 0; i < mLevelPartsInstances.size(); ++i)
{
minPt.x = 0.0f;
minPt.y = 0.0f;
minPt.z = 0.0f;
maxPt.x = 0.0f;
maxPt.y = 0.0f;
maxPt.z = 0.0f;
for (UINT j = 0; j < mLevelPartsInstances[i].Model->BasicVertices.size(); ++j)
{
XMFLOAT3 P = mLevelPartsInstances[i].Model->BasicVertices[j].Pos;
minPt.x = MathHelper::Min(minPt.x, P.x);
minPt.y = MathHelper::Min(minPt.y, P.y);
minPt.z = MathHelper::Min(minPt.z, P.z);
maxPt.x = MathHelper::Max(maxPt.x, P.x);
maxPt.y = MathHelper::Max(maxPt.y, P.y);
maxPt.z = MathHelper::Max(maxPt.z, P.z);
}
XMMATRIX temp = XMLoadFloat4x4(&mLevelPartsInstances[i].World);
LevelPartsclass[i]->setWorld(mLevelPartsInstances[i].World);
XMVECTOR Scale;
XMVECTOR Position;
XMVECTOR Rotation;
XMMatrixDecompose(&Scale, &Rotation, &Position, temp);
XMFLOAT3 tempPos;
XMStoreFloat3(&tempPos, Position);
LevelCollisions[i].Center = tempPos;
LevelCollisions[i].Extents = XMFLOAT3(0.5f*(maxPt.x - minPt.x),
0.5f*(maxPt.y - minPt.y),
0.5f*(maxPt.z - minPt.z));
LevelCollisions[i].collisionType = LevelPartsclass[i]->getCollisionType();
// sets the scale of the collision box
int scale = LevelPartsclass[i]->getScale();
LevelCollisions[i].Extents.x = LevelCollisions[i].Extents.x * scale;
LevelCollisions[i].Extents.y = LevelCollisions[i].Extents.y * scale;
LevelCollisions[i].Extents.z = LevelCollisions[i].Extents.z * scale;
if (LevelPartsclass[i]->getRotationY() != 0)
{
FLOAT tempX = LevelCollisions[i].Extents.x;
FLOAT tempZ = LevelCollisions[i].Extents.z;
LevelCollisions[i].Extents.x = tempZ;
LevelCollisions[i].Extents.z = tempX;
}
//// this doesn't work, useless atm
//LevelPartsBox[i]->setCollisionType();
LevelPartsclass[i]->setAABB(&LevelCollisions[i]);
}
}
bool Projekt::Init()
{
if (!D3D11App::Init())
return false;
// Initialize effects, input layouts and texture manager
Effects::InitAll(mDirect3D->GetDevice());
InputLayouts::InitAll(mDirect3D->GetDevice());
mTextureMgr.init(mDirect3D->GetDevice());
// Initialize wireframe render state
D3D11_RASTERIZER_DESC wireFrameDesc;
ZeroMemory(&wireFrameDesc, sizeof(D3D11_RASTERIZER_DESC));
wireFrameDesc.FillMode = D3D11_FILL_WIREFRAME;
wireFrameDesc.CullMode = D3D11_CULL_BACK;
wireFrameDesc.FrontCounterClockwise = false;
wireFrameDesc.DepthClipEnable = true;
HR(mDirect3D->GetDevice()->CreateRasterizerState(&wireFrameDesc, &WireFrameRS));
//--------------------------------------------------------
// Create sky
//--------------------------------------------------------
mSky = new Sky(mDirect3D->GetDevice(), L"Data/Textures/snowcube1024.dds", 5000.0f);
//--------------------------------------------------------
// Create terrain
//--------------------------------------------------------
// Describe terrain
Terrain::InitInfo tInitInfo;
tInitInfo.HeightMapFilename = L"Data/Textures/Heightmaps/terrain.raw";
tInitInfo.LayerMapFilename0 = L"Data/Textures/grass.dds";
tInitInfo.LayerMapFilename1 = L"Data/Textures/darkdirt.dds";
tInitInfo.LayerMapFilename2 = L"Data/Textures/stone.dds";
tInitInfo.LayerMapFilename3 = L"Data/Textures/lightdirt.dds";
tInitInfo.LayerMapFilename4 = L"Data/Textures/snow.dds";
tInitInfo.BlendMapFilename = L"Data/Textures/blend.dds";
tInitInfo.HeightScale = 50.0f;
tInitInfo.HeightmapWidth = 2049;
tInitInfo.HeightmapHeight = 2049;
tInitInfo.CellSpacing = 0.5f;
// Initialize terrain
mTerrain.Init(mDirect3D->GetDevice(), mDirect3D->GetImmediateContext(), tInitInfo);
//--------------------------------------------------------
// Particle systems
//--------------------------------------------------------
mRandomTexSRV = d3dHelper::CreateRandomTexture1DSRV(mDirect3D->GetDevice());
std::vector<std::wstring> flares;
flares.push_back(L"Data\\Textures\\flare0.dds");
mFlareTexSRV = d3dHelper::CreateTexture2DArraySRV(mDirect3D->GetDevice(), mDirect3D->GetImmediateContext(), flares);
mFire.init(mDirect3D->GetDevice(), Effects::FireFX, mFlareTexSRV, mRandomTexSRV, 500);
mFire.setEmitPos(XMFLOAT3(65.0f, 5.0f, 0.0f));
//--------------------------------------------------------
// Create shadow map
//--------------------------------------------------------
mShadowMapSize = 2048;
mShadowMap = new ShadowMap(mDirect3D->GetDevice(), mShadowMapSize, mShadowMapSize);
//--------------------------------------------------------
// Load models
//--------------------------------------------------------
mGenericModel = new GenericModel(mDirect3D->GetDevice(), mTextureMgr, "Data\\Models\\Collada\\duck.dae", L"Data\\Models\\Collada\\");
//mSkinnedModel = new GenericSkinnedModel(mDirect3D->GetDevice(), mTextureMgr, "Data\\Models\\Collada\\AnimTest\\test_Collada_DAE.dae", L"Data\\Models\\Collada\\AnimTest\\");
mPlayerModel = new GenericModel(mDirect3D->GetDevice(), mTextureMgr, "Data\\Models\\OBJ\\Cop\\cop.obj", L"Data\\Models\\OBJ\\Cop\\");
Player::InitProperties playerProp;
playerProp.PlayerID = 0;
playerProp.Nickname = "Hyzor";
playerProp.Speed = 1.0f;
playerProp.Health = 1.0f;
playerProp.Position = XMFLOAT3(0.0f, 0.0f, 0.0f);
playerProp.Scale = XMFLOAT3(1.0f, 1.0f, 1.0f);
playerProp.Angle = 0.0f;
playerProp.Model = mPlayerModel;
mPlayer.Init(playerProp);
//--------------------------------------------------------
// Create model instances
//--------------------------------------------------------
GenericModelInstance genericInstance;
genericInstance.model = mGenericModel;
// GenericSkinnedModelInstance genSkinnedInstance;
// genSkinnedInstance.model = mSkinnedModel;
// genSkinnedInstance.FinalTransforms.resize(mSkinnedModel->skinnedData.getBoneCount());
// genSkinnedInstance.ClipName = "animation";
// genSkinnedInstance.TimePos = 0.0f;
//--------------------------------------------------------
// Scale, rotate and move model instances
//--------------------------------------------------------
XMMATRIX modelScale = XMMatrixScaling(1.0f, 1.0f, 1.0f);
XMMATRIX modelRot = XMMatrixRotationY(0.0f);
XMMATRIX modelOffset = XMMatrixTranslation(0.0f, 0.0f, 0.0f);
//modelScale = XMMatrixScaling(0.1f, 0.1f, 0.1f);
modelOffset = XMMatrixTranslation(-30.0f, 15.0f, -110.0f);
XMStoreFloat4x4(&genericInstance.world, modelScale*modelRot*modelOffset);
// modelOffset = XMMatrixTranslation(50.0f, 15.0f, -110.0f);
// XMStoreFloat4x4(&genSkinnedInstance.world, modelScale*modelRot*modelOffset);
//--------------------------------------------------------
// Insert model instances to the vector
//--------------------------------------------------------
mGenericInstances.push_back(genericInstance);
/* mGenSkinnedInstances.push_back(genSkinnedInstance);*/
//--------------------------------------------------------
// Compute scene bounding box
//--------------------------------------------------------
XMFLOAT3 minPt(+MathHelper::infinity, +MathHelper::infinity, +MathHelper::infinity);
XMFLOAT3 maxPt(-MathHelper::infinity, -MathHelper::infinity, -MathHelper::infinity);
// Get vertex positions from all models
for (UINT i = 0; i < mGenericInstances.size(); ++i)
{
for (UINT j = 0; j < mGenericInstances[i].model->vertices.size(); ++j)
{
XMFLOAT3 vPos = mGenericInstances[i].model->vertices[j]->position;
minPt.x = MathHelper::getMin(minPt.x, vPos.x);
minPt.y = MathHelper::getMin(minPt.x, vPos.x);
minPt.z = MathHelper::getMin(minPt.x, vPos.x);
maxPt.x = MathHelper::getMax(maxPt.x, vPos.x);
maxPt.y = MathHelper::getMax(maxPt.x, vPos.x);
maxPt.z = MathHelper::getMax(maxPt.x, vPos.x);
}
}
// Get vertex positions from all skinned models
// for (UINT i = 0; i < mGenSkinnedInstances.size(); ++i)
// {
// for (UINT j = 0; j < mGenSkinnedInstances[i].model->vertices.size(); ++j)
// {
// XMFLOAT3 vPos = mGenSkinnedInstances[i].model->vertices[j]->position;
//
// minPt.x = MathHelper::getMin(minPt.x, vPos.x);
// minPt.y = MathHelper::getMin(minPt.x, vPos.x);
// minPt.z = MathHelper::getMin(minPt.x, vPos.x);
//
// maxPt.x = MathHelper::getMax(maxPt.x, vPos.x);
// maxPt.y = MathHelper::getMax(maxPt.x, vPos.x);
// maxPt.z = MathHelper::getMax(maxPt.x, vPos.x);
// }
// }
// Now continue with terrain vertex positions
for (UINT i = 0; i < mTerrain.getPatchVertices().size(); ++i)
{
XMFLOAT3 vPos = mTerrain.getPatchVertices()[i].position;
minPt.x = MathHelper::getMin(minPt.x, vPos.x);
minPt.y = MathHelper::getMin(minPt.x, vPos.x);
minPt.z = MathHelper::getMin(minPt.x, vPos.x);
maxPt.x = MathHelper::getMax(maxPt.x, vPos.x);
maxPt.y = MathHelper::getMax(maxPt.x, vPos.x);
maxPt.z = MathHelper::getMax(maxPt.x, vPos.x);
}
// Sphere center is at half of these new dimensions
mSceneBounds.Center = XMFLOAT3( 0.5f*(minPt.x + maxPt.x),
0.5f*(minPt.y + maxPt.y),
0.5f*(minPt.z + maxPt.z));
// Calculate the sphere radius
XMFLOAT3 extent(0.5f*(maxPt.x - minPt.x),
0.5f*(maxPt.y - minPt.y),
0.5f*(maxPt.z - minPt.z));
mSceneBounds.Radius = sqrtf(extent.x*extent.x + extent.y*extent.y + extent.z*extent.z);
OnResize();
return true;
}
