int main()
{
//RigidBody body1(5.0f,4.f,2.f,1.0f);
//RigidBody body2(5.0f, 4.f, 2.f, 1.0f);
SimulationWorld world1(400.f, 400.f);
world1.simulate(1.f);
}
std::vector< std::shared_ptr<Carta::Lib::RegionInfo> >
RegionCASA::_loadRegion( const QString & fname, std::shared_ptr<Carta::Lib::Image::ImageInterface> imagePtr ){
std::vector<std::shared_ptr<Carta::Lib::RegionInfo> > regionInfos;
casa::String fileName( fname.toStdString().c_str() );
CCImageBase * base = dynamic_cast<CCImageBase*>( imagePtr.get() );
if ( base ){
Carta::Lib::Image::MetaDataInterface::SharedPtr metaPtr = base->metaData();
CCMetaDataInterface* metaData = dynamic_cast<CCMetaDataInterface*>(metaPtr.get());
if ( metaData ){
std::shared_ptr<casa::CoordinateSystem> cs = metaData->getCoordinateSystem();
std::vector < int > dimensions = imagePtr->dims();
int dimCount = dimensions.size();
casa::IPosition shape(dimCount);
for ( int i = 0; i < dimCount; i++ ){
shape[i] = dimensions[i];
}
casa::RegionTextList regionList( fileName, *cs.get(), shape );
casa::Vector<casa::AsciiAnnotationFileLine> aaregions = regionList.getLines();
int regionCount = aaregions.size();
for ( int i = 0; i < regionCount; i++ ){
if ( aaregions[i].getType() != casa::AsciiAnnotationFileLine::ANNOTATION ){
continue;
}
casa::CountedPtr<const casa::AnnotationBase> ann = aaregions[i].getAnnotationBase();
std::shared_ptr<Carta::Lib::RegionInfo> rInfo( new Carta::Lib::RegionInfo());
casa::Vector<casa::MDirection> directions = ann->getConvertedDirections();
casa::AnnotationBase::Direction points = ann->getDirections();
std::vector<std::pair<double,double> > corners =
_getPixelVertices( points, *cs.get(), directions );
int annType = ann->getType();
switch( annType ){
case casa::AnnotationBase::RECT_BOX : {
_addCorners( rInfo, corners );
rInfo->setRegionType( Carta::Lib::RegionInfo::RegionType::Polygon );
}
break;
case casa::AnnotationBase::ELLIPSE : {
rInfo->setRegionType( Carta::Lib::RegionInfo::RegionType::Ellipse );
const casa::AnnEllipse* ellipse = dynamic_cast<const casa::AnnEllipse*>( ann.get() );
casa::Int directionIndex = cs->findCoordinate(casa::Coordinate::Type::DIRECTION );
casa::MDirection::Types csType = casa::MDirection::EXTRA;
if ( directionIndex >= 0 ){
casa::DirectionCoordinate dCoord = cs->directionCoordinate(directionIndex);
csType = dCoord.directionType();
}
if ( csType == casa::MDirection::EXTRA ){
qWarning( "Unable to complete elliptical region, unspecified direction type.");
continue;
}
// convert to the viewer's world coordinates... <mdirection>
casa::MDirection dir_center = casa::MDirection::Convert(ellipse->getCenter( ), csType)();
casa::Vector<double> center = dir_center.getAngle("rad").getValue( );
// 90 deg around 0 & 180 deg
const double major_radius = ellipse->getSemiMajorAxis().getValue("rad");
const double minor_radius = ellipse->getSemiMinorAxis().getValue("rad");
const double pos_angle = ellipse->getPositionAngle( ).getValue("deg");
const bool x_is_major = ((pos_angle > 45.0 && pos_angle < 135.0) ||
(pos_angle > 225.0 && pos_angle < 315.0));
const double xradius = (x_is_major ? major_radius : minor_radius);
const double yradius = (x_is_major ? minor_radius : major_radius);
casa::Vector<casa::Double> world0(2, 0);
casa::Vector<casa::Double> world1(2, 0);
world0[0] = center[0] - xradius;
world0[1] = center[1] - yradius;
world1[0] = center[0] + xradius;
world1[1] = center[1] + yradius;
casa::Vector<casa::Double> pixel0(2, 0);
casa::Vector<casa::Double> pixel1(2, 0);
std::vector<std::pair<double,double> > ellipseCorners(2);
const casa::CoordinateSystem ellipsCoord = ellipse->getCsys();
bool firstConvert = ellipsCoord.directionCoordinate().toPixel( pixel0, world0 );
bool secondConvert = ellipsCoord.directionCoordinate().toPixel( pixel1, world1 );
if ( firstConvert && secondConvert ){
ellipseCorners[0] = std::pair<double,double>( pixel0[0], pixel0[1] );
ellipseCorners[1] = std::pair<double,double>( pixel1[0], pixel1[1] );
_addCorners( rInfo, ellipseCorners );
}
else {
qDebug() << "Problem storing ellipse corners: "<<ellipsCoord.errorMessage().c_str();
}
}
break;
case casa::AnnotationBase::POLYGON : {
_addCorners( rInfo, corners );
rInfo->setRegionType( Carta::Lib::RegionInfo::RegionType::Polygon );
}
break;
//Point????
case casa::AnnotationBase::SYMBOL : {
_addCorners( rInfo, corners );
rInfo->setRegionType( Carta::Lib::RegionInfo::RegionType::Polygon );
}
break;
}
regionInfos.push_back( rInfo );
}
}
}
return regionInfos;
}
TEST(WorldDiff, SetWorld)
{
collision_detection::WorldPtr world1(new collision_detection::World);
collision_detection::WorldPtr world2(new collision_detection::World);
collision_detection::WorldDiff diff1(world1);
collision_detection::WorldDiff diff1b(world1);
collision_detection::WorldDiff diff2(world2);
collision_detection::WorldDiff::const_iterator it;
shapes::ShapePtr ball(new shapes::Sphere(1.0));
shapes::ShapePtr box(new shapes::Box(1,2,3));
shapes::ShapePtr cyl(new shapes::Cylinder(4,5));
world1->addToObject("objA1",
ball,
Eigen::Affine3d::Identity());
world1->addToObject("objA2",
ball,
Eigen::Affine3d::Identity());
world1->addToObject("objA3",
ball,
Eigen::Affine3d::Identity());
world2->addToObject("objB1",
box,
Eigen::Affine3d::Identity());
world2->addToObject("objB2",
box,
Eigen::Affine3d::Identity());
world2->addToObject("objB3",
box,
Eigen::Affine3d::Identity());
EXPECT_EQ(3, diff1.getChanges().size());
EXPECT_EQ(3, diff1b.getChanges().size());
EXPECT_EQ(3, diff2.getChanges().size());
diff1b.clearChanges();
EXPECT_EQ(3, diff1.getChanges().size());
EXPECT_EQ(0, diff1b.getChanges().size());
EXPECT_EQ(3, diff2.getChanges().size());
diff1.setWorld(world2);
EXPECT_EQ(6, diff1.getChanges().size());
EXPECT_EQ(0, diff1b.getChanges().size());
EXPECT_EQ(3, diff2.getChanges().size());
it = diff1.getChanges().find("objA1");
EXPECT_NE(diff1.end(), it);
EXPECT_EQ(collision_detection::World::DESTROY,
it->second);
it = diff1.getChanges().find("objA2");
EXPECT_NE(diff1.end(), it);
EXPECT_EQ(collision_detection::World::DESTROY,
it->second);
it = diff1.getChanges().find("objA2");
EXPECT_NE(diff1.end(), it);
EXPECT_EQ(collision_detection::World::DESTROY,
it->second);
it = diff1.getChanges().find("objB1");
EXPECT_NE(diff1.end(), it);
EXPECT_EQ(collision_detection::World::CREATE |
collision_detection::World::ADD_SHAPE,
it->second);
it = diff1.getChanges().find("objB2");
EXPECT_NE(diff1.end(), it);
EXPECT_EQ(collision_detection::World::CREATE |
collision_detection::World::ADD_SHAPE,
it->second);
it = diff1.getChanges().find("objB3");
EXPECT_NE(diff1.end(), it);
EXPECT_EQ(collision_detection::World::CREATE |
collision_detection::World::ADD_SHAPE,
it->second);
diff1b.setWorld(world2);
EXPECT_EQ(6, diff1.getChanges().size());
EXPECT_EQ(6, diff1b.getChanges().size());
EXPECT_EQ(3, diff2.getChanges().size());
it = diff1b.getChanges().find("objA1");
EXPECT_NE(diff1b.end(), it);
EXPECT_EQ(collision_detection::World::DESTROY,
it->second);
it = diff1b.getChanges().find("objA2");
EXPECT_NE(diff1b.end(), it);
EXPECT_EQ(collision_detection::World::DESTROY,
it->second);
it = diff1b.getChanges().find("objA2");
EXPECT_NE(diff1b.end(), it);
EXPECT_EQ(collision_detection::World::DESTROY,
it->second);
it = diff1b.getChanges().find("objB1");
EXPECT_NE(diff1b.end(), it);
EXPECT_EQ(collision_detection::World::CREATE |
collision_detection::World::ADD_SHAPE,
it->second);
it = diff1b.getChanges().find("objB2");
EXPECT_NE(diff1b.end(), it);
EXPECT_EQ(collision_detection::World::CREATE |
collision_detection::World::ADD_SHAPE,
it->second);
it = diff1b.getChanges().find("objB3");
EXPECT_NE(diff1b.end(), it);
EXPECT_EQ(collision_detection::World::CREATE |
collision_detection::World::ADD_SHAPE,
it->second);
world1->addToObject("objC",
box,
Eigen::Affine3d::Identity());
EXPECT_EQ(6, diff1.getChanges().size());
EXPECT_EQ(6, diff1b.getChanges().size());
EXPECT_EQ(3, diff2.getChanges().size());
world2->addToObject("objC",
box,
Eigen::Affine3d::Identity());
EXPECT_EQ(7, diff1.getChanges().size());
EXPECT_EQ(7, diff1b.getChanges().size());
EXPECT_EQ(4, diff2.getChanges().size());
diff2.setWorld(world1);
EXPECT_EQ(7, diff1.getChanges().size());
EXPECT_EQ(7, diff1b.getChanges().size());
EXPECT_EQ(7, diff2.getChanges().size());
it = diff2.getChanges().find("objC");
EXPECT_NE(diff2.end(), it);
EXPECT_EQ(collision_detection::World::CREATE |
collision_detection::World::ADD_SHAPE |
collision_detection::World::DESTROY,
it->second);
world1->addToObject("objD",
box,
Eigen::Affine3d::Identity());
EXPECT_EQ(7, diff1.getChanges().size());
EXPECT_EQ(7, diff1b.getChanges().size());
EXPECT_EQ(8, diff2.getChanges().size());
world2->addToObject("objE",
box,
Eigen::Affine3d::Identity());
EXPECT_EQ(8, diff1.getChanges().size());
EXPECT_EQ(8, diff1b.getChanges().size());
EXPECT_EQ(8, diff2.getChanges().size());
}