int main()
{
typedef bg::model::point<double, 2, bg::cs::cartesian> point_t;
typedef bg::model::segment<point_t> segment_t;
segment_t seg1; /*< Default-construct a segment. >*/
segment_t seg2(point_t(0.0, 0.0), point_t(5.0, 5.0)); /*< Construct, assigning the first and the second point. >*/
#ifndef BOOST_NO_CXX11_UNIFIED_INITIALIZATION_SYNTAX
segment_t seg3{{0.0, 0.0}, {5.0, 5.0}}; /*< Construct, using C++11 unified initialization syntax. >*/
#endif
bg::set<0, 0>(seg1, 1.0); /*< Set a coordinate. >*/
bg::set<0, 1>(seg1, 2.0);
bg::set<1, 0>(seg1, 3.0);
bg::set<1, 1>(seg1, 4.0);
double x0 = bg::get<0, 0>(seg1); /*< Get a coordinate. >*/
double y0 = bg::get<0, 1>(seg1);
double x1 = bg::get<1, 0>(seg1);
double y1 = bg::get<1, 1>(seg1);
std::cout << x0 << ", " << y0 << ", " << x1 << ", " << y1 << std::endl;
return 0;
}
void SegmentsTests<dimension>::run()
{
VecD origin1 = random_vec<VecD>();
VecD direction1 = random_vec<VecD>();
geom::Point<dimension> point1( new typename geom::Point<dimension>::EuclideanDriver( random_vec<HomogenousVecD>() ) );
geom::Point<dimension> point2( new typename geom::Point<dimension>::EuclideanDriver( random_vec<HomogenousVecD>() ) );
// Test based on line
geom::Line<dimension> line1( new typename geom::Line<dimension>::EuclideanDriver( origin1, direction1));
double firstIndex = random_float();
double lastIndex = random_float();
SegmentD seg1( new typename SegmentD::LineDriver( &line1, firstIndex, lastIndex ) );
test_segment_validity( seg1 );
GEOM_CHECK_VEC_EQUAL( seg1.firstPoint(), line1.pointAt(firstIndex) );
GEOM_CHECK_VEC_EQUAL( seg1.lastPoint(), line1.pointAt(lastIndex) );
GEOM_CHECK_NULL( geom::angle(seg1, line1 ) );
test_segment( seg1 );
JFR_CHECK( !seg1.isTransformable() );
// Test constructor based on two points
SegmentD seg2( new typename SegmentD::TwoPointsPointerDriver( &point1, &point2 ) );
test_segment_validity( seg2 );
GEOM_CHECK_VEC_EQUAL( seg2.firstPoint(), point1.homogenousCoordinates() );
GEOM_CHECK_VEC_EQUAL( seg2.lastPoint(), point2.homogenousCoordinates() );
test_segment( seg2 );
JFR_CHECK( !seg2.isTransformable() );
// Test constructor based on two points
SegmentD seg3( new typename SegmentD::TwoPointsDriver( point1.homogenousCoordinates(), point2.homogenousCoordinates() ) );
test_segment_validity( seg3 );
GEOM_CHECK_VEC_EQUAL( seg3.firstPoint(), point1.homogenousCoordinates() );
GEOM_CHECK_VEC_EQUAL( seg3.lastPoint(), point2.homogenousCoordinates() );
test_segment( seg3 );
JFR_CHECK( seg3.isTransformable() );
// Test transformability
HomogenousMatrixD m = random_inversible_mat<dimension>();
HomogenousMatrixD mInv;
jmath::ublasExtra::inv( m, mInv );
SegmentD seg3bis = seg3;
seg3bis.applyTransformation( m );
GEOM_CHECK_VEC_EQUAL( seg3bis.firstPoint(), ublas::prod(m, seg3.firstPoint() ) );
GEOM_CHECK_VEC_EQUAL( seg3bis.lastPoint(), ublas::prod(m, seg3.lastPoint() ) );
seg3bis.applyTransformation( mInv );
GEOM_CHECK_VEC_EQUAL( seg3bis.firstPoint(), seg3.firstPoint() );
GEOM_CHECK_VEC_EQUAL( seg3bis.lastPoint(), seg3.lastPoint() );
// Test distance
test_distance(seg1, seg2);
test_distance(seg2, seg3);
test_distance(seg1, seg3);
test_distance(seg1, seg2.support());
test_distance(seg1, seg3.support());
test_distance(seg2, seg1.support());
test_distance(seg2, seg3.support());
test_distance(seg3, seg2.support());
test_distance(seg3, seg1.support());
}
void drawPoint(
const Vec3& pos,
const Color& color
) {
Segment seg1(pos - Vec3(1,0,0), pos + Vec3(1,0,0));
Segment seg2(pos - Vec3(0,0,1), pos + Vec3(0,0,1));
drawSegment(seg1, color, 0.1f);
drawSegment(seg2, color, 0.1f);
}
const bool Collision::isRectInCircle(const MyRectangle* rect, const Circle* circle)const
{
Segment seg1(rect->getPosition(), rect->getPosition() + GSvector2(rect->getWidth(), 0));//0,1
Segment seg2(rect->getPosition() + rect->getSize(),rect->getPosition() + GSvector2(0, rect->getHeight()));//3,2
float res1 = segment_Point_atan(&seg1,&circle->center);
float res2 = segment_Point_atan(&seg2,&circle->center);
if (0 <= res1 && res1 <= 90 &&
0 <= res2&& res2 <= 90)
{
return true;
}
return false;
}
void Draw2D::drawCube(SDL_Surface *screen,Point3D _pt1, Point3D _pt2, Point3D _pt3, Point3D _pt4)
{
// 4----6
// /| /|
// 7----8|
// |1---|2
// |/ |/
// 3----5
// with the 4 points we can find the 4 others
Point3D pt5 = _pt2+_pt3-_pt1;
Point3D pt6 = _pt2+_pt4-_pt1;
Point3D pt7 = _pt3+_pt4-_pt1;
Point3D pt8 = pt5+_pt4-_pt1;
// construct all segments
Segment3D seg1(_pt1,_pt2);
Segment3D seg2(_pt1,_pt3);
Segment3D seg3(_pt1,_pt4);
Segment3D seg4(_pt3,pt5);
Segment3D seg5(pt5,pt8);
Segment3D seg6(pt5,_pt2);
Segment3D seg7(_pt3,pt7);
Segment3D seg8(_pt2,pt6);
Segment3D seg9(pt7,_pt4);
Segment3D seg10(_pt4,pt6);
Segment3D seg11(pt6,pt8);
Segment3D seg12(pt7,pt8);
// draw all segments
drawSegment(screen,seg1);
drawSegment(screen,seg2);
drawSegment(screen,seg3);
drawSegment(screen,seg4);
drawSegment(screen,seg5);
drawSegment(screen,seg6);
drawSegment(screen,seg7);
drawSegment(screen,seg8);
drawSegment(screen,seg9);
drawSegment(screen,seg10);
drawSegment(screen,seg11);
drawSegment(screen,seg12);
}
void drawAxis(
const Vec3& pos
) {
t3::Segment seg1(
t3::Vec3(0, 3, 0),
t3::Vec3(0, 0, 0)
);
t3::Segment seg2(
t3::Vec3(0, 0, 3),
t3::Vec3(0, 0, 0)
);
t3::Segment seg3(
t3::Vec3(3, 0, 0),
t3::Vec3(0, 0, 0)
);
t3::drawSegment(seg1, t3::color_sample::red(), 3.1f);
t3::drawSegment(seg2, t3::color_sample::blue(), 3.1f);
t3::drawSegment(seg3, t3::color_sample::green(), 3.1f);
}
bool frgExtractTopologicalEntsFromLinesAlgm::_is_parallel_between(const rlEdge2d *e1, const rlEdge2d *e2) const
{
// - 构造第一个线段
rlId vId1 = e1->v1();
rlId vId2 = e1->v2();
rlVertex2d *v1 = _topologies->get<rlVertex2d *>(vId1);
rlVertex2d *v2 = _topologies->get<rlVertex2d *>(vId2);
if (v1 == NULL || v2 == NULL)
{
assert(false);
return false;
}
AcGeLineSeg2d seg1(AcGePoint2d(v1->x(), v1->y()), AcGePoint2d(v2->x(), v2->y()));
// - 构造第二个线段
vId1 = e2->v1();
vId2 = e2->v2();
v1 = _topologies->get<rlVertex2d *>(vId1);
v2 = _topologies->get<rlVertex2d *>(vId2);
if (v1 == NULL || v2 == NULL)
{
assert(false);
return false;
}
AcGeLineSeg2d seg2(AcGePoint2d(v1->x(), v1->y()), AcGePoint2d(v2->x(), v2->y()));
// - 判断二者是否平行
if (seg1.isParallelTo(seg2, frgGlobals::Gtol) == Adesk::kTrue)
return true;
return false;
}
void DIGIT::displayMonth(int month)
{
bool display[8];
switch (month)
{
case 1: seg0(true);
seg1(true);
seg2(true);
seg3(true);
x += 9;
seg0(true);
seg1(true);
seg2(true);
seg4(true);
seg5(true);
seg6(true);
seg7(true);
x += 9;
seg1(true);
seg2(true);
seg4(true);
seg5(true);
seg8(true);
seg13(true);
break;
case 2: seg0(true);
seg4(true);
seg5(true);
seg6(true);
x += 9;
seg0(true);
seg3(true);
seg4(true);
seg5(true);
seg6(true);
x += 9;
for(int i=0; i<8; i++)
(this->*ptr[i])(true);
break;
case 3: seg1(true);
seg2(true);
seg4(true);
seg5(true);
seg8(true);
seg9(true);
x += 9;
seg0(true);
seg1(true);
seg2(true);
seg4(true);
seg5(true);
seg6(true);
seg7(true);
x += 9;
seg0(true);
seg1(true);
seg4(true);
seg5(true);
seg6(true);
seg7(true);
seg13(true);
break;
case 4: seg0(true);
seg1(true);
seg2(true);
seg4(true);
seg5(true);
seg6(true);
seg7(true);
x += 9;
seg0(true);
seg1(true);
seg4(true);
seg5(true);
seg6(true);
seg7(true);
seg13(true);
x += 9;
seg0(true);
seg1(true);
seg4(true);
seg5(true);
seg6(true);
seg7(true);
seg13(true);
break;
case 5: seg1(true);
seg2(true);
seg4(true);
seg5(true);
seg8(true);
seg9(true);
x += 9;
seg0(true);
seg1(true);
seg2(true);
seg4(true);
seg5(true);
seg6(true);
seg7(true);
x += 9;
seg8(true);
seg10(true);
seg12(true);
break;
case 6: seg0(true);
seg1(true);
seg2(true);
seg3(true);
x += 9;
seg1(true);
seg2(true);
seg3(true);
seg4(true);
seg5(true);
x += 9;
seg1(true);
seg2(true);
seg4(true);
seg5(true);
seg8(true);
seg13(true);
break;
case 7: seg0(true);
seg1(true);
seg2(true);
seg3(true);
x += 9;
seg1(true);
seg2(true);
seg3(true);
seg4(true);
seg5(true);
x += 9;
seg1(true);
seg2(true);
break;
case 8: seg0(true);
seg1(true);
seg2(true);
seg4(true);
seg5(true);
seg6(true);
seg7(true);
x += 9;
seg1(true);
seg2(true);
seg3(true);
seg4(true);
seg5(true);
x += 9;
seg0(true);
seg3(true);
seg4(true);
seg5(true);
seg6(true);
break;
case 9: lookup(5, display);
for(int i=0; i<8; i++)
(this->*ptr[i])(display[i]);
x += 9;
seg0(true);
seg3(true);
seg4(true);
seg5(true);
seg6(true);
x += 9;
seg0(true);
seg1(true);
seg4(true);
seg5(true);
seg6(true);
seg7(true);
seg13(true);
break;
case 10: lookup(0, display);
for(int i=0; i<8; i++)
(this->*ptr[i])(display[i]);
x += 9;
seg0(true);
seg3(true);
seg4(true);
seg5(true);
x += 9;
seg0(true);
seg9(true);
seg12(true);
break;
case 11: seg1(true);
seg2(true);
seg4(true);
seg5(true);
seg8(true);
seg13(true);
x += 9;
lookup(0, display);
for(int i=0; i<8; i++)
(this->*ptr[i])(display[i]);
x += 9;
seg1(true);
seg2(true);
seg8(true);
seg13(true);
break;
case 12: lookup(0, display);
for(int i=0; i<8; i++)
(this->*ptr[i])(display[i]);
x += 9;
seg0(true);
seg3(true);
seg4(true);
seg5(true);
seg6(true);
x += 9;
seg0(true);
seg3(true);
seg4(true);
seg5(true);
break;
}
}
void LaneDetection::AlgoFilterLanes(ntuple_list line_out)
{
//fout_2.open("pairs.txt");
unsigned int dim = line_out->dim;
int n_size = line_out->size;
Mat lines_candidats = Mat::zeros(processGrayImage.size(), CV_32SC1);
for (int i = 0; i < n_size; i++)
{
const Point2d p1(line_out->values[i * dim + 0], line_out->values[i * dim + 1]);
const Point2d p2(line_out->values[i * dim + 2], line_out->values[i * dim + 3]);
Segment2d p12 = Segment2d(p1, p2);//p1.y < p2.y
for (int j = 0; j < n_size; j++)
{
if (j == i) continue;
Point2d seg1(line_out->values[j * dim + 0], line_out->values[j * dim + 1]);
Point2d seg2(line_out->values[j * dim + 2], line_out->values[j * dim + 3]);
Segment2d seg(seg1, seg2);
if (seg.getLength() > p12.getLength())
{
continue;
}
//simple check
if (!p12.isNeighbor(seg))
{
continue;
}
//slope difference?
if (abs(atan(p12.getSlope()) - atan(seg.getSlope())) > 15 * CV_PI / 180)
{
//fout_2 << p1 << p2 << seg1 << seg2 << p12.getSlope() << "," << seg.getSlope() << endl;
//fout_2 << "continue in abs(atan(p12.getSlope()) - atan(seg.getSlope())) > 10 * CV_PI / 180" << endl;
continue;
}
vector<Segment2d> v = p12.getValidPoly(seg, processGrayImage.rows);
//valid?
if (v.empty())
{
//fout_2 << p1 << p2 << seg1 << seg2 << endl;
//fout_2 << "continue in v.empty()" << endl;
continue;
}
//color compare
Point2d translation[3];
translation[0] = Point2d(0, 0);
translation[1] = v[0].p1 - v[1].p1;
translation[2] = -translation[1];
vector<uchar> vec_color[3];
double mean_color[3];
double stdDev_color[3];
for (int _trans = 0; _trans < 3; _trans++)
{
Rect box = getBoundingBox(v[0].p1 + translation[_trans], v[0].p2 + translation[_trans],
v[1].p1 + translation[_trans], v[1].p2 + translation[_trans]);
for (int _y = box.y; _y < box.y + box.height; _y++)
{
if (_y >= processImage.rows || _y < 0) continue;
uchar* ptr_row_processImage = processGrayImage.ptr<uchar>(_y);
for (int _x = box.x; _x < box.x + box.width; _x++)
{
if (_x >= processImage.cols || _x < 0) continue;
Point2d p(_x, _y);
int direc = cross(p, v[0].p1 + translation[_trans], v[0].p2 + translation[_trans]) > -0.0 ? 1 : -1;
if (direc != (cross(p, v[0].p2 + translation[_trans], v[1].p2 + translation[_trans]) > -0.0 ? 1 : -1))
continue;
if (direc != (cross(p, v[1].p2 + translation[_trans], v[1].p1 + translation[_trans]) > -0.0 ? 1 : -1))
continue;
if (direc != (cross(p, v[1].p1 + translation[_trans], v[0].p1 + translation[_trans]) > -0.0 ? 1 : -1))
continue;
vec_color[_trans].push_back(ptr_row_processImage[_x]);
}
}
if (vec_color[_trans].empty())
;
else
{
Mat mean, stdDev;
meanStdDev(vec_color[_trans], mean, stdDev);
mean_color[_trans] = mean.at<double>(0);
stdDev_color[_trans] = stdDev.at<double>(0);
}
}
bool color_matched = (mean_color[0] > mean_color[1] + 10) && (mean_color[0] > mean_color[2] + 10)
&& stdDev_color[0] < 50;
if (!color_matched)
{
//fout_2 << p1 << p2 << seg1 << seg2 << mean_color[0] << "," << mean_color[1] << "," << mean_color[2];
//fout_2 << "," << stdDev_color[0] << endl;
//fout_2 << "continue in color_matched" << endl;
continue;
}
//fout_2 << p1 << p2 << seg1 << seg2 << endl;
//fout_2 << "Paired!!!!!!" << endl;
line(processImage, p1, p2, Scalar(0, 0, 255));
line(processImage, seg1, seg2, Scalar(0, 255, 0));
//imshow("step1", processImage);
//waitKey();
//break;
}//end for j
}
//fout_2 << "-------------------" << endl;
//fout_2.close();
}
void LaneDetection::AlgoFilterLanes_back(ntuple_list line_out){
unsigned int dim = line_out->dim;
int n_size = line_out->size;
vector< vector<int> > pairs;//each element is a vector of index of segment(s)
pairs.resize(n_size);
for (int i = 0; i < n_size; i++)
{
const Point2d p1(line_out->values[i * dim + 0], line_out->values[i * dim + 1]);
const Point2d p2(line_out->values[i * dim + 2], line_out->values[i * dim + 3]);
double longeur_p12 = dist_p2p(p1, p2);
Segment2d s(p1, p2);
//if (line_out->values[i * dim + 0] > 662 && line_out->values[i * dim + 0] < 664)
//{
// int c = 0;
//}
//else
// continue;
Point2d milieu_p12 = (p1 + p2) / 2;
for (int j = 0; j < n_size; j++)
{
if (j == i) continue;
Point2d seg1(line_out->values[j * dim + 0], line_out->values[j * dim + 1]);
Point2d seg2(line_out->values[j * dim + 2], line_out->values[j * dim + 3]);
Segment2d seg(seg1, seg2);
//simple check
if (!s.isNeighbor(seg))
continue;
//not same side
//if ((cross(p1, seg1, seg2) > -0.0 ? 1 : -1) * (cross(p2, seg1, seg2) > -0.0 ? 1 : -1) < 0)
//{
// continue;
//}
//slope difference
double slope_dif = abs(atan(slope_seg(p1, p2)) - atan(slope_seg(seg1, seg2)));
if (slope_dif > 10 * CV_PI / 180)
{
continue;
}
double longeur_seg = dist_p2p(seg1, seg2);
Point2d t_p1, t_p2, t_seg1, t_seg2;
if (longeur_p12 > longeur_seg * 3)
{
if (foot_p2segment(seg1, p1, p2, t_p1) && foot_p2segment(seg2, p1, p2, t_p2))
{
t_seg1 = seg1;
t_seg2 = seg2;
}
else
{
t_p1 = p1;
t_p2 = p2;
t_seg1 = seg1;
t_seg2 = seg2;
}
}
else if (longeur_seg > longeur_p12 * 3)
{
if (foot_p2segment(p1, seg1, seg2, t_seg1) && foot_p2segment(p2, seg1, seg2, t_seg2))
{
t_p1 = p1;
t_p2 = p2;
}
else
{
t_p1 = p1;
t_p2 = p2;
t_seg1 = seg1;
t_seg2 = seg2;
}
}
else
{
t_p1 = p1;
t_p2 = p2;
t_seg1 = seg1;
t_seg2 = seg2;
}
Point2d p_start = (t_p1 + t_p2) / 2;
Point2d p_end = (t_seg1 + t_seg2) / 2;
//distance
double thresh = 20;
if (p_start.y < 2 * processImage.rows / 3 && p_end.y < 2 * processImage.rows / 3)
thresh = 10;
if (dist_p2segment(t_p1, t_seg1, t_seg2) > thresh && dist_p2segment(t_p2, t_seg1, t_seg2) > thresh)
{
continue;
}
//color condition
int mean_color[3] = { 0, 0, 0 };
int num[3] = { 0, 0, 0 };
Point2d translation[3];
translation[0] = Point2d(0, 0);
translation[1] = p_start - p_end;
translation[2] = -translation[1];
for (int _trans = 0; _trans < 3; _trans++)
{
Rect box = getBoundingBox(t_p1 + translation[_trans], t_p2 + translation[_trans],
t_seg1 + translation[_trans], t_seg2 + translation[_trans]);
Point2d milieu = (p_start + p_end) / 2 + translation[_trans];
//check direction of cross.
int direc = (cross(milieu, t_seg1 + translation[_trans], t_seg2 + translation[_trans]) > -EPS_HERE ? 1 : -1) *
(cross(milieu, t_p1 + translation[_trans], t_p2 + translation[_trans]) > -EPS_HERE ? 1 : -1);
for (int _y = box.y; _y < box.y + box.height; _y++)
{
if (_y >= processImage.rows || _y < 0) continue;
uchar* ptr_row_processImage = ipmImage.ptr<uchar>(_y);
for (int _x = box.x; _x < box.x + box.width; _x++)
{
if (_x >= processImage.cols || _x < 0) continue;
Point2d p(_x, _y);
if (direc != (cross(p, t_seg1 + translation[_trans], t_seg2 + translation[_trans]) > -EPS_HERE ? 1 : -1) *
(cross(p, t_p1 + translation[_trans], t_p2 + translation[_trans]) > -EPS_HERE ? 1 : -1))
{
continue;
}
mean_color[_trans] += ptr_row_processImage[_x];
num[_trans]++;
}
}
mean_color[_trans] = (double)mean_color[_trans] / num[_trans];
}
bool color_matched = (mean_color[0] > mean_color[1] + 30) && (mean_color[0] > mean_color[2] + 30);
if (!color_matched)
{
//line(processImage, p1, p2, Scalar(255, 0, 0));
continue;
}
Rect box = getBoundingBox(t_p1, t_p2,
t_seg1, t_seg2);
Point2d milieu = (p_start + p_end) / 2;
int _trans = 0;
//check direction of cross.
int direc = (cross(milieu, t_seg1 + translation[_trans], t_seg2 + translation[_trans]) > -EPS_HERE ? 1 : -1) *
(cross(milieu, t_p1 + translation[_trans], t_p2 + translation[_trans]) > -EPS_HERE ? 1 : -1);
for (int _y = box.y; _y < box.y + box.height; _y++)
{
if (_y >= processImage.rows || _y < 0) continue;
Vec3b* ptr_row_processImage = processImage.ptr<Vec3b>(_y);
for (int _x = box.x; _x < box.x + box.width; _x++)
{
if (_x >= processImage.cols || _x < 0) continue;
Point2d p(_x, _y);
if (direc != (cross(p, t_seg1 + translation[_trans], t_seg2 + translation[_trans]) > -EPS_HERE ? 1 : -1) *
(cross(p, t_p1 + translation[_trans], t_p2 + translation[_trans]) > -EPS_HERE ? 1 : -1))
{
continue;
}
ptr_row_processImage[_x] = Vec3b(255, 0, 255);
}
}
//TODO: ADD MORE CONDITIONS to check if they are a pair.
//line(processImage, p1, p2, Scalar(0, 255, 0));
//break;
//add candidate pair to vector.
}
}
ofstream fout("pairs.txt");
for (int i = 0; i < n_size; i++)
{
const Point2d p1(line_out->values[i * dim + 0], line_out->values[i * dim + 1]);
const Point2d p2(line_out->values[i * dim + 2], line_out->values[i * dim + 3]);
fout << i << "{" << p1 << "; " << p2 << "}" << " pairs: ";
int b = (unsigned)theRNG() & 255;
int g = (unsigned)theRNG() & 255;
int r = (unsigned)theRNG() & 255;
if (pairs[i].size() <= 1)
continue;
for (int j = 0; j < pairs[i].size(); j++)
{
Point2d seg1(line_out->values[pairs[i][j] * dim + 0], line_out->values[pairs[i][j] * dim + 1]);
Point2d seg2(line_out->values[pairs[i][j] * dim + 2], line_out->values[pairs[i][j] * dim + 3]);
fout << "[" << seg1 << "; " << seg2 << " ],";
}
//line(processImage, p1, p2, Scalar(b, g, r));
//line(processImage, seg1, seg2, Scalar(b, g, r));
fout << "--------" << endl;
}
}
TrackGenerator::TrackGenerator() {
/*
* Phase 1 -
* Generate the track tree and place control points that wrap
* closely around the tree segments.
*/
// Start by generating the tree
TrackTreeNode* rootTrackTreeNode = new TrackTreeNode(0.0, 0.0, NULL, 0);
// Place the control points
TrackTreeNode* current_start = rootTrackTreeNode;
TrackTreeNode* previous_start = rootTrackTreeNode->neighbors[0];
TrackTreeNode* current = current_start;
TrackTreeNode* previous = previous_start;
vector<vec3> controlPts;
do {
TrackTreeNode* next = current->getNextNode(previous);
if (previous == next) { // happens if current node only has one segment
vec2 direction = current->xz - previous->xz;
direction.normalize();
direction *= current->radius;
vec2 offset(-direction[1], direction[0]);
vec2 temp = current->xz + direction + offset;
vec3 v(temp[0], RAND * 20 + 10, temp[1]);
controlPts.push_back(v);
temp = current->xz + direction - offset;
v = vec3(temp[0], RAND * 20 + 10, temp[1]);
controlPts.push_back(v);
}
else { // Otherwise, do the bisector thing
vec2 direction1 = current->xz - previous->xz;
direction1.normalize();
direction1 = vec2(-direction1[1], direction1[0]);
vec2 direction2 = next->xz - current->xz;
direction2.normalize();
direction2 = vec2(-direction2[1], direction2[0]);
vec2 newDir = direction1 + direction2;
double angle = acos(direction1 * direction2);
newDir.normalize();
newDir *= current->radius / cos(angle / 2);
newDir += current->xz;
// First, randomly assign heights
vec3 v(newDir[0], RAND * 20 + 10, newDir[1]);
controlPts.push_back(v);
}
// Advance
previous = current;
current = next;
} while (current != current_start || previous != previous_start);
bool majorChange = true;
while (majorChange) {
majorChange = false;
/*
* Phase 2 -
* Merge nearby control points and prune control points with angles
* that are too acute. Repeat until the track stops changing.
*/
bool changed = true;
while (changed) {
changed = false;
vector<vec3> tempControlPts;
// Merge close control points first
double threshold = 20.0;
int size = controlPts.size();
for (int i = 0; i < size; i++) {
vec3 current = controlPts[i];
vec3 previous = controlPts[(i + size - 1) % size];
vec3 next = controlPts[(i + 1) % size];
vec3 distvec1 = current - previous;
vec3 distvec2 = next - current;
distvec1[1] = 0.0;
distvec2[1] = 0.0;
double dist1 = distvec1.length();
double dist2 = distvec2.length();
if (dist1 > threshold && dist2 > threshold) {
tempControlPts.push_back(current);
}
else if (dist2 <= threshold) {
changed = true;
vec3 newPoint = (current + next) / 2;
tempControlPts.push_back(newPoint);
}
majorChange |= changed;
}
controlPts = tempControlPts;
// Next, prune sharply angled control points
tempControlPts.clear();
size = controlPts.size();
for (int i = 0; i < size; i++) {
vec3 current = controlPts[i];
vec3 previous = controlPts[(i + size - 1) % size];
vec3 next = controlPts[(i + 1) % size];
vec3 dir1 = current - previous;
vec3 dir2 = current - next;
dir1.normalize();
dir2.normalize();
if (acos(dir1 * dir2) < M_PI / 4) {
changed = true;
}
else {
tempControlPts.push_back(current);
}
majorChange |= changed;
}
controlPts = tempControlPts;
}
/*
* Phase 3 -
* Add height information and then adjust to make sure that
* the track will not overlap too closely.
*/
// TODO - compare segment distances to make sure that they aren't overalapping too closely
changed = true;
while (changed) {
changed = false;
for (unsigned int i = 0; i < controlPts.size() - 1; i++) {
for (unsigned int j = i + 1; j < controlPts.size(); j++) {
unsigned int jn = (j+1)%controlPts.size();
pair<vec3, vec3> seg1(controlPts[i], controlPts[i+1]);
pair<vec3, vec3> seg2(controlPts[j], controlPts[jn]);
vec3 check = checkSegments(seg1, seg2);
if (check.length() > 0.01) {
changed = true;
controlPts[i] += check / 2;
controlPts[i+1] += check / 2;
controlPts[j] -= check / 2;
controlPts[jn] -= check / 2;
controlPts[i][1] = max(controlPts[i][1], 4.0);
controlPts[i+1][1] = max(controlPts[i+1][1], 4.0);
controlPts[j][1] = max(controlPts[j][1], 4.0);
controlPts[jn][1] = max(controlPts[jn][1], 4.0);
}
}
}
majorChange |= changed;
}
}
/*
* Recenter the track
*/
vector<vec3>::iterator it = controlPts.begin();
double xMin = (*it)[0];
double xMax = (*it)[0];
double zMin = (*it)[2];
double zMax = (*it)[2];
it++;
while (it != controlPts.end()) {
xMin = min(xMin, (*it)[0]);
xMax = max(xMax, (*it)[0]);
zMin = min(zMin, (*it)[2]);
zMax = max(zMax, (*it)[2]);
it++;
}
double xMid = (xMax + xMin) / 2;
double zMid = (zMax + zMin) / 2;
for (unsigned int i = 0; i < controlPts.size(); i++) {
controlPts[i][0] -= xMid;
controlPts[i][2] -= zMid;
}
xWidth = xMax - xMin;
zWidth = zMax - zMin;
/*
* Add banking to make better turns, and add to pathPts
*/
for (unsigned int i = 0; i < controlPts.size(); i++) {
vec2 current = vec2(controlPts[i], VY);
vec2 prev = vec2(controlPts[(i - 1 + controlPts.size()) % controlPts.size()], VY);
vec2 next = vec2(controlPts[(i + 1) % controlPts.size()], VY);
double angle = angleBetween(current, prev, next);
vec2 dir = current - prev;
vec2 turn = next - current;
vec3 dir2(dir[0], 0, dir[1]);
vec3 turn2(turn[0], 0, turn[1]);
double bankAmount = 45 * pow(0.999, angle * dir.length() * turn.length() / 100);
if ((dir2 ^ turn2)[1] > 0) {
bankAmount *= -1;
}
pathPts.push_back(PathPoint(controlPts[i], bankAmount));
}
}
std::vector<std::string> StrainMeasures::getSixteenSegmentTorsions(double wall_xi) {
//The measure of change due to helix rotation between the walls
//Setup segments
const double base_start = 1.0;
const double mid_start = 0.7;
const double apex_start = 0.5;
const double apex_end = 0.001;
const double wall_epi = 1.0;
if (wall_xi == 1.0)
wall_xi = 0.99;
std::vector<WallSegment> segments;
//APLAX
const double apexAngle = 0.0;
//Base
WallSegment seg1(3, 7); //Segment 2
seg1.setXIA(apexAngle, 0.5 * (base_start + mid_start), wall_xi);
seg1.setXIB(apexAngle, 0.5 * (base_start + mid_start), wall_epi);
WallSegment seg2(5, 1); //Segment 5
seg2.setXIA(apexAngle, 0.5 * (base_start + mid_start), wall_xi);
seg2.setXIB(apexAngle, 0.5 * (base_start + mid_start), wall_epi);
//Mid
WallSegment seg3(7, 11); //Segment 8
seg3.setXIA(apexAngle, 0.5 * (mid_start + apex_start), wall_xi);
seg3.setXIB(apexAngle, 0.5 * (mid_start + apex_start), wall_epi);
WallSegment seg4(5, 9); //Segment 11
seg4.setXIA(apexAngle, 0.5 * (mid_start + apex_start), wall_xi);
seg4.setXIB(apexAngle, 0.5 * (mid_start + apex_start), wall_epi);
//Apex
WallSegment seg5(12, 16); //Segment 13
seg5.setXIA(0.8, 0.5 * (apex_start + apex_end), wall_xi);
seg5.setXIB(0.8, 0.5 * (apex_start + apex_end), wall_epi);
WallSegment seg6(9, 13); //Segment 15
seg6.setXIA(0.1, 0.5 * (apex_start + apex_end), wall_xi);
seg6.setXIB(0.1, 0.5 * (apex_start + apex_end), wall_epi);
//TCH
const double tchAngle = 2.5 / 3.0;
//Base
WallSegment tseg1(4, 8); //Segment 3
tseg1.setXIA(tchAngle, 0.5 * (base_start + mid_start), wall_xi);
tseg1.setXIB(tchAngle, 0.5 * (base_start + mid_start), wall_epi);
WallSegment tseg2(6, 2); //Segment 6
tseg2.setXIA(tchAngle, 0.5 * (base_start + mid_start), wall_xi);
tseg2.setXIB(tchAngle, 0.5 * (base_start + mid_start), wall_epi);
//Mid
WallSegment tseg3(8, 12); //Segment 9
tseg3.setXIA(tchAngle, 0.5 * (mid_start + apex_start), wall_xi);
tseg3.setXIB(tchAngle, 0.5 * (mid_start + apex_start), wall_epi);
WallSegment tseg4(6, 10); //Segment 12
tseg4.setXIA(tchAngle, 0.5 * (mid_start + apex_start), wall_xi);
tseg4.setXIB(tchAngle, 0.5 * (mid_start + apex_start), wall_epi);
//Apex
WallSegment tseg5(12, 16); //Segment 14
tseg5.setXIA(tchAngle, 0.5 * (apex_start + apex_end), wall_xi);
tseg5.setXIB(tchAngle, 0.5 * (apex_start + apex_end), wall_epi);
WallSegment tseg6(10, 14); //Segment 16
tseg6.setXIA(tchAngle, 0.5 * (apex_start + apex_end), wall_xi);
tseg6.setXIB(tchAngle, 0.5 * (apex_start + apex_end), wall_epi);
//FCH
const double fchAngle = 1.0 / 3.0;
//Base
WallSegment fseg1(1, 5); //Segment 4
fseg1.setXIA(fchAngle, 0.5 * (base_start + mid_start), wall_xi);
fseg1.setXIB(fchAngle, 0.5 * (base_start + mid_start), wall_epi);
WallSegment fseg2(7, 3); //Segment 1
fseg2.setXIA(fchAngle, 0.5 * (base_start + mid_start), wall_xi);
fseg2.setXIB(fchAngle, 0.5 * (base_start + mid_start), wall_epi);
//Mid
WallSegment fseg3(5, 9); //Segment 10
fseg3.setXIA(fchAngle, 0.5 * (mid_start + apex_start), wall_xi);
fseg3.setXIB(fchAngle, 0.5 * (mid_start + apex_start), wall_epi);
WallSegment fseg4(7, 11); //Segment 7
fseg4.setXIA(fchAngle, 0.5 * (mid_start + apex_start), wall_xi);
fseg4.setXIB(fchAngle, 0.5 * (mid_start + apex_start), wall_epi);
//Apex
WallSegment fseg5(9, 13); //Segment 14+15
fseg5.setXIA(fchAngle, apex_start, wall_xi);
fseg5.setXIB(fchAngle, apex_end, wall_epi);
WallSegment fseg6(11, 15); //Segment 13+16
fseg6.setXIA(fchAngle, apex_start, wall_xi);
fseg6.setXIB(fchAngle, apex_end, wall_epi);
segments.clear();
segments.push_back(fseg2); //1
segments.push_back(seg1); //2
segments.push_back(tseg1); //3
segments.push_back(fseg1); //4
segments.push_back(seg2); //5
segments.push_back(tseg2); //6
segments.push_back(fseg4); //7
segments.push_back(seg3); //8
segments.push_back(tseg3); //9
segments.push_back(fseg3); //10
segments.push_back(seg4); //11
segments.push_back(tseg4); //12
segments.push_back(seg5); //13
segments.push_back(tseg5); //14
segments.push_back(seg6); //15
segments.push_back(tseg6); //16
//Setup the active strain segments
int aplaxStrainIds[] = { 1, 7, 12, 14, 10, 4 };
int tchStrainIds[] = { 2, 8, 13, 15, 11, 5 };
int fchStrainIds[] = { 0, 6, 9, 3 };
int activeStrainSegments[16];
unsigned int totalActiveSegments = 0;
memset(activeStrainSegments, 0, sizeof(int) * 16);
for (int i = 0; i < 6; i++)
activeStrainSegments[aplaxStrainIds[i]] = 1;
totalActiveSegments += 6;
for (int i = 0; i < 6; i++)
activeStrainSegments[tchStrainIds[i]] = 1;
totalActiveSegments += 6;
for (int i = 0; i < 4; i++)
activeStrainSegments[fchStrainIds[i]] = 1;
totalActiveSegments += 4;
//Compute the strain for each segment over time
unsigned int samples = numberOfModelFrames_;
double* length = new double[samples];
double* nstrain = new double[numberOfModelFrames_];
double* avgstrain = new double[numberOfModelFrames_];
double temp_array[3], temp_array1[3];
unsigned int numSegments = segments.size();
memset(avgstrain, 0, numberOfModelFrames_ * sizeof(double));
std::vector<std::string> strains;
std::stringstream ss;
//Setup the header
for (unsigned int i = 0; i < numSegments; i++) {
WallSegment& seg = segments[i];
for (unsigned int dt = 0; dt < samples; dt++) {
double time = ((double) dt) / (samples - 1.0);
Cmiss_field_cache_set_time(fieldCache, time);
temp_array1[0] = temp_array1[1] = temp_array1[2] = 0.0;
//Since cmiss id starts at 1 subtract 1 from seg.elementid?
Cmiss_field_cache_set_mesh_location(fieldCache, elements[seg.elementida - 1], 3, seg.xia);
Cmiss_field_evaluate_real(coordianteField, fieldCache, 3, temp_array);
Cmiss_field_cache_set_mesh_location(fieldCache, elements[seg.elementida - 1], 3, seg.xib);
Cmiss_field_evaluate_real(coordianteField, fieldCache, 3, temp_array1);
length[dt] = fabs(temp_array1[2]);
}
ss << " 0.0";
avgstrain[0] = 0.0;
for (unsigned int dt = 1; dt < samples - 1; dt++) {
nstrain[dt] = length[dt] - length[0];
ss << "," << nstrain[dt];
avgstrain[dt] += nstrain[dt] * activeStrainSegments[i];
}
ss << "," << nstrain[0];
avgstrain[numberOfModelFrames_ - 1] += nstrain[0] * activeStrainSegments[i];
strains.push_back(ss.str());
//Clear the buffer
ss.str("");
}
ss << avgstrain[0];
for (unsigned int dt = 1; dt < numberOfModelFrames_; dt++) {
ss << "," << avgstrain[dt] / totalActiveSegments;
}
strains.push_back(ss.str());
delete[] length;
delete[] nstrain;
delete[] avgstrain;
return strains;
}
std::vector<std::string> StrainMeasures::getSixteenSegmentStrains(std::string fieldName, double wall_xi) {
#ifdef printcoord
std::cout << "Linear 3D " << fieldName << "\t" << wall_xi << std::endl;
#endif
std::vector<WallSegment> segments;
//APLAX 10 22 34 46 46 40 28 16 4
// 13 9 5 1 1 3 7 11 15
//Base
WallSegment seg1(13, 9);
seg1.setXIA(0, 1, wall_xi);
seg1.setXIB(0, 1, wall_xi);
WallSegment seg2(9, 5);
seg2.setXIA(0, 1, wall_xi);
seg2.setXIB(0, 1, wall_xi);
//Mid
WallSegment seg3(5, 1);
seg3.setXIA(0, 1, wall_xi);
seg3.setXIB(0, 1, wall_xi);
WallSegment seg4(1, 1);
seg4.setXIA(0, 1, wall_xi);
seg4.setXIB(0, 0, wall_xi);
//Apex
WallSegment seg5(1, 3);
seg5.setXIA(0, 0, wall_xi);
seg5.setXIB(0, 1, wall_xi);
WallSegment seg6(3, 7);
seg6.setXIA(0, 1, wall_xi);
seg6.setXIB(0, 1, wall_xi);
WallSegment seg7(7, 11);
seg7.setXIA(0, 1, wall_xi);
seg7.setXIB(0, 1, wall_xi);
WallSegment seg8(11, 15);
seg8.setXIA(0, 1, wall_xi);
seg8.setXIB(0, 1, wall_xi);
//TCH 12 24 36 48 48 42 30 18 6
// 45 41 37 33 33 35 39 43 47
//Base
WallSegment tseg1(45, 41);
tseg1.setXIA(0, 1, wall_xi);
tseg1.setXIB(0, 1, wall_xi);
WallSegment tseg2(41, 37);
tseg2.setXIA(0, 1, wall_xi);
tseg2.setXIB(0, 1, wall_xi);
//Mid
WallSegment tseg3(37, 33);
tseg3.setXIA(0, 1, wall_xi);
tseg3.setXIB(0, 1, wall_xi);
WallSegment tseg4(33, 33);
tseg4.setXIA(0, 1, wall_xi);
tseg4.setXIB(0, 0, wall_xi);
//Apex
WallSegment tseg5(33, 35);
tseg5.setXIA(0, 0, wall_xi);
tseg5.setXIB(0, 1, wall_xi);
WallSegment tseg6(35, 39);
tseg6.setXIA(0, 1, wall_xi);
tseg6.setXIB(0, 1, wall_xi);
WallSegment tseg7(39, 43);
tseg7.setXIA(0, 1, wall_xi);
tseg7.setXIB(0, 1, wall_xi);
WallSegment tseg8(43, 47);
tseg8.setXIA(0, 1, wall_xi);
tseg8.setXIB(0, 1, wall_xi);
//FCH 2 14 26 38 38 44 32 20 8
// 32 28 24 20 20 18 22 26 30
//Base
WallSegment fseg1(32, 28);
fseg1.setXIA(0, 1, wall_xi);
fseg1.setXIB(0, 1, wall_xi);
WallSegment fseg2(28, 24);
fseg2.setXIA(0, 1, wall_xi);
fseg2.setXIB(0, 1, wall_xi);
//Mid
WallSegment fseg3(24, 20);
fseg3.setXIA(0, 1, wall_xi);
fseg3.setXIB(0, 1, wall_xi);
WallSegment fseg4(20, 20);
fseg4.setXIA(0, 1, wall_xi);
fseg4.setXIB(0, 0, wall_xi);
//Apex
WallSegment fseg5(20, 18);
fseg5.setXIA(0, 0, wall_xi);
fseg5.setXIB(0, 1, wall_xi);
WallSegment fseg6(18, 22);
fseg6.setXIA(0, 1, wall_xi);
fseg6.setXIB(0, 1, wall_xi);
WallSegment fseg7(22, 26);
fseg7.setXIA(0, 1, wall_xi);
fseg7.setXIB(0, 1, wall_xi);
WallSegment fseg8(26, 30);
fseg8.setXIA(0, 1, wall_xi);
fseg8.setXIB(0, 1, wall_xi);
segments.clear();
segments.push_back(seg1);
segments.push_back(seg2);
segments.push_back(seg3);
segments.push_back(seg4);
segments.push_back(seg5);
segments.push_back(seg6);
segments.push_back(seg7);
segments.push_back(seg8);
segments.push_back(tseg1);
segments.push_back(tseg2);
segments.push_back(tseg3);
segments.push_back(tseg4);
segments.push_back(tseg5);
segments.push_back(tseg6);
segments.push_back(tseg7);
segments.push_back(tseg8);
segments.push_back(fseg1);
segments.push_back(fseg2);
segments.push_back(fseg3);
segments.push_back(fseg4);
segments.push_back(fseg5);
segments.push_back(fseg6);
segments.push_back(fseg7);
segments.push_back(fseg8);
mySegments = &segments;
return getSegmentStrains(fieldName);
}
