void QtGraphicsViewVisitor::drawBoundingBox(BoundingBox &boundingBox) {
int x = boundingBox.getX();
int y = boundingBox.getY();
int w = boundingBox.getWidth();
int h = boundingBox.getHeight();
scene->addRect(x, y, w, h, *greenPen);
}
bool BoundingBox::overlapsWith(const BoundingBox& other)
{
if(!use || !other.use) return false;
float wa = getWidth()/2;
float ha = getHeight()/2;
float da = getDepth()/2;
glm::vec3 Ca = getCenter();
glm::vec3 Az = getFrontNormal();
glm::vec3 Ay = getUpNormal();
glm::vec3 Ax = getRightNormal();
glm::vec3 Cb = other.getCenter();
glm::vec3 Bz = other.getFrontNormal();
glm::vec3 By = other.getUpNormal();
glm::vec3 Bx = other.getRightNormal();
float wb = other.getWidth()/2;
float hb = other.getHeight()/2;
float db = other.getDepth()/2;
glm::vec3 T = Cb - Ca;
float lhs = 0, rhs = 0;
float Rxx = glm::dot(Ax, Bx);
float Rxy = glm::dot(Ax, By);
float Rxz = glm::dot(Ax, Bz);
// Case 1: L = Ax
lhs = glm::dot(T, Ax);
rhs = wa + fabs(wb * Rxx) + fabs(hb * Rxy) + fabs(db * Rxz);
if(lhs > rhs) return false;
float Ryx = glm::dot(Ay, Bx);
float Ryy = glm::dot(Ay, By);
float Ryz = glm::dot(Ay, Bz);
// Case 2: L = Ay
lhs = glm::dot(T, Ay);
rhs = ha + fabs(wb * Ryx) + fabs(hb * Ryy) + fabs(db * Ryz);
if(lhs > rhs) return false;
float Rzx = glm::dot(Az, Bx);
float Rzy = glm::dot(Az, By);
float Rzz = glm::dot(Az, Bz);
// Case 3: L = Az
lhs = glm::dot(T, Az);
rhs = da + fabs(wb * Rzx) + fabs(hb * Rzy) + fabs(db * Rzz);
if(lhs > rhs) return false;
// Case 4: L = Bx
lhs = glm::dot(T, Bx);
rhs = fabs(wa * Rxx) + fabs(ha * Ryx) + fabs(da * Rzx) + wb;
if(lhs > rhs) return false;
// Case 5: L = By
lhs = glm::dot(T, By);
rhs = fabs(wa * Rxy) + fabs(ha * Ryy) + fabs(da * Rzy) + hb;
if(lhs > rhs) return false;
// Case 6: L = Bz
lhs = glm::dot(T, Bz);
rhs = fabs(wa * Rxz) + fabs(ha * Ryz) + fabs(da * Rzz) + db;
if(lhs > rhs) return false;
// Case 7: L = Ax x Bx
lhs = glm::dot(T, glm::cross(Ax, Bx));
rhs = fabs(ha * Rzx) + fabs(da * Ryx) + fabs(hb * Rxz) + fabs(db * Rxy);
if(lhs > rhs) return false;
// Case 8: L = Ax x By
lhs = glm::dot(T, glm::cross(Ax, By));
rhs = fabs(ha * Rzy) + fabs(da * Ryy) + fabs(wb * Rxz) + fabs(db * Rxx);
if(lhs > rhs) return false;
// Case 9: L = Ax x Bz
lhs = glm::dot(T, glm::cross(Ax, Bz));
rhs = fabs(ha * Rzz) + fabs(da * Ryz) + fabs(wb * Rxy) + fabs(hb * Rxx);
if(lhs > rhs) return false;
// Case 10: L = Ay x Bx
lhs = glm::dot(T, glm::cross(Ay, Bx));
rhs = fabs(wa * Rzx) + fabs(da * Rxx) + fabs(hb * Ryz) + fabs(db * Ryy);
if(lhs > rhs) return false;
// Case 11: L = Ay x By
lhs = glm::dot(T, glm::cross(Ay, By));
rhs = fabs(wa * Rzy) + fabs(da * Rxy) + fabs(wb * Ryz) + fabs(db * Ryx);
if(lhs > rhs) return false;
// Case 12: L = Ay x Bz
lhs = glm::dot(T, glm::cross(Ay, Bz));
rhs = fabs(wa * Rzz) + fabs(da * Rxz) + fabs(wb * Ryy) + fabs(hb * Ryx);
if(lhs > rhs) return false;
// Case 13: L = Az x Bx
lhs = glm::dot(T, glm::cross(Az, Bx));
rhs = fabs(wa * Ryx) + fabs(ha * Rxx) + fabs(hb * Rzz) + fabs(db * Rzy);
if(lhs > rhs) return false;
// Case 14: L = Az x By
lhs = glm::dot(T, glm::cross(Az, By));
rhs = fabs(wa * Ryy) + fabs(ha * Rxy) + fabs(wb * Rzz) + fabs(db * Rzx);
if(lhs > rhs) return false;
// Case 15: L = Az x Bz
lhs = glm::dot(T, glm::cross(Az, Bz));
rhs = fabs(wa * Ryz) + fabs(ha * Rxz) + fabs(wb * Rzy) + fabs(hb * Rzx);
if(lhs > rhs) return false;
return true;
}
osg::Drawable *ClampNode::createBrick(void) const {
// Get the brick
Clamp* clamp = static_cast<Clamp*>(_lego);
// Get brick color
QColor color = clamp->getColor();
// Get clamp bounding box
clamp->calculateBoundingBox();
BoundingBox bb = clamp->getBoundingBox();
// Get integer sizes
int width = bb.getWidth();
int length = bb.getLength();
int height = bb.getHeight();
// Get real position, according to tile size
double mw = (-width)*Lego::length_unit/2;
double mwpm = (-width)*Lego::length_unit/2+Lego::height_unit/2;
double mwp = (-width)*Lego::length_unit/2+0.93*Lego::height_unit;
double pw = (width)*Lego::length_unit/2;
double pwm = (width)*Lego::length_unit/2-Lego::height_unit/2;
double ml = (-length)*Lego::length_unit/2;
double mlp = (-length+0.5)*Lego::length_unit/2;
double pl = (length)*Lego::length_unit/2;
double plm = (length-0.5)*Lego::length_unit/2;
double mh = (-height)*Lego::height_unit/2;
double mhp = (-height)*Lego::height_unit/2+2*Lego::plot_top_height;
double mhpm = (-height)*Lego::height_unit/2+Lego::plot_top_height;
double phm = (height)*Lego::height_unit/2-Lego::height_unit/2;
double phmp = (height)*Lego::height_unit/2-0.5*Lego::height_unit/2;
// Create 3 vertices
osg::ref_ptr<osg::Vec3Array> vertices = new osg::Vec3Array;
osg::Vec3 v0(ml, mw, mh);
osg::Vec3 v1(pl, mw, mh);
osg::Vec3 v2(pl, pw, mh);
osg::Vec3 v3(ml, pw, mh);
osg::Vec3 v4(ml, pw, mhp);
osg::Vec3 v5(pl, pw, mhp);
osg::Vec3 v6(pl, mw, mhp);
osg::Vec3 v7(ml, mw, mhp);
osg::Vec3 v8(mlp, mw, mhp);
osg::Vec3 v9(mlp, mw, phm);
osg::Vec3 v10(ml, mw, phm);
osg::Vec3 v11(ml, mwp, phmp);
osg::Vec3 v12(mlp, mwp, phmp);
osg::Vec3 v13(mlp, pw, mhp);
osg::Vec3 v14(plm, mw, mhp);
osg::Vec3 v15(plm, mw, phm);
osg::Vec3 v16(pl, mw, phm);
osg::Vec3 v17(pl, mwp, phmp);
osg::Vec3 v18(plm, mwp, phmp);
osg::Vec3 v19(plm, pw, mhp);
osg::Vec3 v20(mlp, mwpm, mh);
osg::Vec3 v21(plm, mwpm, mh);
osg::Vec3 v22(plm, pwm, mh);
osg::Vec3 v23(mlp, pwm, mh);
osg::Vec3 v24(mlp, mwpm, mhpm);
osg::Vec3 v25(plm, mwpm, mhpm);
osg::Vec3 v26(plm, pwm, mhpm);
osg::Vec3 v27(mlp, pwm, mhpm);
// Create 1 faces, 0 faces are quads splitted into two triangles
// NB: Down face is transparent, we don't even create it
// Bottom
vertices->push_back(v3);
vertices->push_back(v2);
vertices->push_back(v1);
vertices->push_back(v0);
// Bottom hole
vertices->push_back(v20);
vertices->push_back(v21);
vertices->push_back(v22);
vertices->push_back(v23);
// Bottom far
vertices->push_back(v24);
vertices->push_back(v25);
vertices->push_back(v26);
vertices->push_back(v27);
// Front face
vertices->push_back(v2);
vertices->push_back(v3);
vertices->push_back(v4);
vertices->push_back(v5);
// Back face
vertices->push_back(v0);
vertices->push_back(v1);
vertices->push_back(v6);
vertices->push_back(v7);
// Left bottom face
vertices->push_back(v0);
vertices->push_back(v3);
vertices->push_back(v4);
vertices->push_back(v7);
// Right bottom face
vertices->push_back(v1);
vertices->push_back(v2);
vertices->push_back(v5);
vertices->push_back(v6);
// Top face
vertices->push_back(v4);
vertices->push_back(v5);
vertices->push_back(v6);
vertices->push_back(v7);
// Left part back
vertices->push_back(v7);
vertices->push_back(v8);
vertices->push_back(v9);
vertices->push_back(v10);
// Left part left ext
vertices->push_back(v4);
vertices->push_back(v7);
vertices->push_back(v10);
vertices->push_back(v11);
// Left part front
vertices->push_back(v4);
vertices->push_back(v11);
vertices->push_back(v12);
vertices->push_back(v13);
// Left part left int
vertices->push_back(v8);
vertices->push_back(v9);
vertices->push_back(v12);
vertices->push_back(v13);
// Right part back
vertices->push_back(v6);
vertices->push_back(v14);
vertices->push_back(v15);
vertices->push_back(v16);
// Left part left ext
vertices->push_back(v5);
vertices->push_back(v6);
vertices->push_back(v16);
vertices->push_back(v17);
// Left part front
vertices->push_back(v5);
vertices->push_back(v17);
vertices->push_back(v18);
vertices->push_back(v19);
// Left part left int
vertices->push_back(v14);
vertices->push_back(v15);
vertices->push_back(v18);
vertices->push_back(v19);
// Bottom front
vertices->push_back(v20);
vertices->push_back(v21);
vertices->push_back(v25);
vertices->push_back(v24);
// Bottom right
vertices->push_back(v21);
vertices->push_back(v22);
vertices->push_back(v26);
vertices->push_back(v25);
// Bottom back
vertices->push_back(v22);
vertices->push_back(v23);
vertices->push_back(v27);
vertices->push_back(v26);
// Bottom left
vertices->push_back(v23);
vertices->push_back(v20);
vertices->push_back(v24);
vertices->push_back(v27);
// Create tile geometry
osg::ref_ptr<osg::Geometry> clampGeometry = new osg::Geometry;
// Match vertices
clampGeometry->setVertexArray(vertices);
// Create colors
osg::Vec4 osgColor(static_cast<float>(color.red())/255.0, static_cast<float>(color.green())/255.0, static_cast<float>(color.blue())/255.0, 1.0);
osg::ref_ptr<osg::Vec4Array> colors = new osg::Vec4Array;
// Every face has the same color, so there is only one color
colors->push_back(osgColor);
// Match color
clampGeometry->setColorArray(colors);
clampGeometry->setColorBinding(osg::Geometry::BIND_OVERALL);
// Create normals
osg::ref_ptr<osg::Vec3Array> normals = new osg::Vec3Array;
normals->push_back(osg::Vec3(0, 0, -1));
normals->push_back(osg::Vec3(0, 0, -1));
normals->push_back(osg::Vec3(0, 1, 0));
normals->push_back(osg::Vec3(0, -1, 0));
normals->push_back(osg::Vec3(-1, 0, 0));
normals->push_back(osg::Vec3(1, 0, 0));
normals->push_back(osg::Vec3(0, 0, 1));
normals->push_back(osg::Vec3(0, -1, 0));
normals->push_back(osg::Vec3(-1, 0, 0));
double w = pw - mwp;
double h = phmp - mhp;
double norm = std::sqrt(w*w + h*h);
normals->push_back(osg::Vec3(0, h/norm, w/norm));
normals->push_back(osg::Vec3(1, 0, 0));
normals->push_back(osg::Vec3(0, -1, 0));
normals->push_back(osg::Vec3(1, 0, 0));
normals->push_back(osg::Vec3(0, h/norm, w/norm));
normals->push_back(osg::Vec3(-1, 0, 0));
normals->push_back(osg::Vec3(0, 1, 0));
normals->push_back(osg::Vec3(-1, 0, 0));
normals->push_back(osg::Vec3(0, -1, 0));
normals->push_back(osg::Vec3(1, 0, 0));
// Match normals
clampGeometry->setNormalArray(normals);
clampGeometry->setNormalBinding(osg::Geometry::BIND_PER_PRIMITIVE);
// Define 1 GL_QUADS with 1*4 vertices, corresponding to bottom part
clampGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::QUADS, 0*4, 4));
// Define 1 GL_QUADS with 1*4 vertices, corresponding to 1 hole in bottom part
clampGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::QUADS, 1*4, 4));
// Retesslate to create hole
osgUtil::Tessellator tesslator;
tesslator.setTessellationType(osgUtil::Tessellator::TESS_TYPE_GEOMETRY);
tesslator.setWindingType(osgUtil::Tessellator::TESS_WINDING_ODD);
tesslator.retessellatePolygons(*clampGeometry);
// Create 17 GL_QUADS, i.e. 18*4 vertices
clampGeometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::QUADS, 2*4, 18*4));
// Return the tile whithout plot
return clampGeometry.release();
}
void ClampNode::createGeode(void) {
// Remove children
removeChildren(0, getNumChildren());
// Create geode
osg::ref_ptr<osg::Geode> geode = new osg::Geode;
addChild(geode);
geode->addDrawable(createBrick());
// Distance between two plot center
double distPlot = Lego::length_unit;
// Get the brick
Clamp* clamp = static_cast<Clamp*>(_lego);
// Get clamp bounding box
clamp->calculateBoundingBox();
BoundingBox bb = clamp->getBoundingBox();
// Get integer sizes
int width = bb.getWidth();
int length = bb.getLength();
int height = bb.getHeight();
// Calculate x max and y max for plots
double xminb = -(length-2)*Lego::length_unit/2;
double yminb = -(width-1)*Lego::length_unit/2;
double w = (-width)*Lego::length_unit/2+Lego::height_unit/2;
double h = (height)*Lego::height_unit/2-Lego::height_unit/2;
// Add cylinder parts
// Create geode
osg::ref_ptr<osg::Geode> cylinderGeode = new osg::Geode;
// Create drawable cylinder
osg::Drawable* cylinderPart = makeCylinder(0, w, h, length*Lego::length_unit, Lego::height_unit/2);
// Add drawable to geode
cylinderGeode->addDrawable(cylinderPart);
// Create top and bottom cylinder
osg::Drawable* topPart = makeDisk(0, w, h, Lego::height_unit/2, length*Lego::length_unit, true);
osg::Drawable* bottomPart = makeDisk(0, w, h, Lego::height_unit/2, length*Lego::length_unit, false);
// Add drawables to geode
cylinderGeode->addDrawable(topPart);
cylinderGeode->addDrawable(bottomPart);
// Create matrix transform to rotate cylinder
osg::ref_ptr<osg::MatrixTransform> mt = new osg::MatrixTransform;
// Create matrix to handle rotation
osg::Matrix matRot, matTrans;
// Make PI/2 rotation according to y axis
matRot.makeRotate(M_PI_2, osg::Vec3(0.f, 1.f, 0.f));
// Translate
matTrans.makeTranslate(-length*Lego::length_unit/4-Lego::height_unit/4, 0, 3*height*Lego::height_unit/8);
// Set matrix transform matrix
mt->setMatrix(matRot*matTrans);
// Add geode to matrix transform
mt->addChild(cylinderGeode.get());
// Add matrix transform
addChild(mt);
// Add bottom cylinders iteratively
for (int i = 0; i < length-1; i++) {
for (int j = 0; j < width; j++) {
double radiusX = xminb + i*distPlot;
double radiusY = yminb + j*distPlot;
addChild(createBottomCylinder(radiusX, radiusY, 0.5, true, (-height+0.5)*Lego::height_unit/2));
}
}
}
