void PeriodicExploration::periodic_inflate(bool use_reflective_inflator) {
ParameterCommon::Variables vars;
MatrixFr offset = m_parameters->evaluate_offset(vars);
MatrixFr ori_vertices = m_wire_network->get_vertices();
m_wire_network->set_vertices(ori_vertices+ offset);
InflatorEngine::Ptr inflator;
if (use_reflective_inflator) {
inflator = InflatorEngine::create_isotropic_parametric(
m_wire_network, m_parameters);
} else {
inflator = InflatorEngine::create_parametric(m_wire_network, m_parameters);
}
inflator->set_profile(m_profile);
inflator->with_shape_velocities();
if (m_refine_order > 0)
inflator->with_refinement(m_refine_algorithm, m_refine_order);
try {
inflator->inflate();
} catch (...) {
m_wire_network->set_vertices(ori_vertices);
throw;
}
m_wire_network->set_vertices(ori_vertices);
m_vertices = inflator->get_vertices();
m_faces = inflator->get_faces();
m_voxels = MatrixIr::Zero(0, 4);
m_face_sources = inflator->get_face_sources();
m_shape_velocities = inflator->get_shape_velocities();
update_mesh();
}
void Spine::draw_mesh()
{
update_mesh();
flat_program->load();
int N = n * p * q;
int M = m;
while ((N + 1) * (M + 1) >= 65536)
N--;
glEnableVertexAttribArray(flat_program->vertexPositionAttribute);
glEnableVertexAttribArray(flat_program->paramAttribute);
if (mesh_rings)
{
// rings around the spine
// there are N(+1) of these, and each has M(+1) points
// and they are adjacent
// with M=5, N=3
// 11111X
// 22222X
// 33333X
// YYYYYX
glBindBuffer(GL_ARRAY_BUFFER, mesh_points);
glVertexAttribPointer(flat_program->vertexPositionAttribute, 3, GL_FLOAT, GL_FALSE,
0, (GLvoid*) 0);
glBindBuffer(GL_ARRAY_BUFFER, mesh_params);
glVertexAttribPointer(flat_program->paramAttribute, 4, GL_FLOAT, GL_FALSE,
0, (GLvoid*) 0);
for (int i = 0; i < N; ++i)
{
glDrawArrays(GL_LINE_STRIP, i * (M + 1), M + 1);
}
}
if (mesh_longs)
{
// the long bits "parallel" to the spine
// there are M(+1) of these, and each has N(+1) points
// but they are interleaved
// with M=5, N=3
// 1 1 1 Y
// 2 2 2 Y
// 3 3 3 Y
// 4 4 4 Y
// 5 5 5 Y
// X X X X
for (int j = 0; j < M; ++j)
{
glBindBuffer(GL_ARRAY_BUFFER, mesh_points);
glVertexAttribPointer(flat_program->vertexPositionAttribute, 3, GL_FLOAT, GL_FALSE,
(M + 1) * sizeof(vec3), (GLvoid*) (j * sizeof(vec3)));
glBindBuffer(GL_ARRAY_BUFFER, mesh_params);
glVertexAttribPointer(flat_program->paramAttribute, 4, GL_FLOAT, GL_FALSE,
(M + 1) * sizeof(vec4), (GLvoid*) (j * sizeof(vec4)));
glDrawArrays(GL_LINE_STRIP, 0, N + 1);
}
}
glDisableVertexAttribArray(flat_program->vertexPositionAttribute);
glDisableVertexAttribArray(flat_program->paramAttribute);
}
void box::set_position(float x, float y, float z)
{
position.set_x(x);
position.set_y(y);
position.set_z(z);
update_mesh();
}
void box::set_size(float length, float height, float depth)
{
size.set_x(length);
size.set_y(height);
size.set_z(depth);
update_mesh();
}
box::box(float x, float y, float z, float length, float height, float depth, std::shared_ptr<graphics::material> material) : box()
{
position.set_x(x);
position.set_y(y);
position.set_z(z);
size.set_x(length);
size.set_y(height);
size.set_z(depth);
update_mesh();
if (material)
{
set_material(material);
}
}
int superMi::tuetee_mapping(Solid* mesh, double deltaE, double deltaT)
{
double oldEnergy = 0;
double newEnergy = 0;
int error = 0;
bool flag = false;
error = energy(mesh, &oldEnergy, TUETEE);
std::cout << "Initial Tuette energy: " << oldEnergy << std::endl;
for (int i = 0; (i < 100000) && !flag; i++){
error = gradient(mesh, TUETEE);
error = absolute_derivative(mesh);
error = update_mesh(mesh, deltaT);
error = energy(mesh, &newEnergy, TUETEE);
if (i % 1000 == 0) std::cout << i + 1 << ": " << newEnergy << std::endl;
error = check_energy_change(&oldEnergy, &newEnergy, deltaE, &flag);
}
return 0;
}
bool PeriodicExploration::run_tetgen(Float max_tet_vol) {
const size_t dim = m_vertices.cols();
const size_t num_vertices = m_vertices.rows();
TetgenWrapper tetgen(m_vertices, m_faces);
std::stringstream flags;
if (max_tet_vol == 0.0) {
max_tet_vol =
pow(m_default_thickness * pow(0.5, m_refine_order), dim);
}
flags << "pqYQa" << max_tet_vol;
try {
tetgen.run(flags.str());
} catch (TetgenException& e) {
save_mesh("tetgen_debug.msh");
std::cerr << "Tetgen failed! Flags: " << flags.str() << std::endl;
std::cerr << e.what() << std::endl;
std::cerr << "Data saved in tetgen_debug.msh" << std::endl;
return false;
}
// Important note:
//
// The following code is based on rather shaky the observation that tetgen
// will only append to the existing list of vertices. Therefore, the face
// arrays are still valid given the "Y" flag is used.
MatrixFr vertices = tetgen.get_vertices();
assert(vertices.rows() > 0);
assert((vertices.block(0, 0, num_vertices, dim).array()==m_vertices.array()).all());
m_vertices = vertices;
m_voxels = tetgen.get_voxels();
const size_t num_vol_vertices = m_vertices.rows();
for (auto& velocity : m_shape_velocities) {
velocity.conservativeResize(num_vol_vertices, dim);
velocity.block(num_vertices, 0,
num_vol_vertices-num_vertices, dim).setZero();
}
update_mesh();
return true;
}
int superMi::harmonic_mapping(Solid* mesh, double deltaE, double deltaT)
{
double oldEnergy = 0;
double newEnergy = 0;
int error = 0;
bool flag = false;
error = energy(mesh, &oldEnergy, HARMONIC);
std::cout << "Initial Harmonic energy: " << oldEnergy << std::endl;
for (int i = 0; (i < 13) && !flag; i++){
error = gradient(mesh, HARMONIC);
error = absolute_derivative(mesh);
error = update_mesh(mesh, deltaT);
error = mass_center(mesh);
error = energy(mesh, &newEnergy, HARMONIC);
if (i % 1 == 0) std::cout << i + 1 << ": " << newEnergy << std::endl;
error = check_energy_change(&oldEnergy, &newEnergy, deltaE, &flag);
}
return 0;
}
void Spine::draw_shade()
{
update_mesh();
shade_program->load();
int N = n * p * q;
int M = m;
while ((N + 1) * (M + 1) >= 65536)
N--;
glEnable(GL_POLYGON_OFFSET_FILL);
glPolygonOffset(1.0f, 1.0f);
glEnableVertexAttribArray(shade_program->vertexPositionAttribute);
glEnableVertexAttribArray(shade_program->vertexNormalAttribute);
glEnableVertexAttribArray(shade_program->paramAttribute);
{
glBindBuffer(GL_ARRAY_BUFFER, mesh_points);
glVertexAttribPointer(shade_program->vertexPositionAttribute, 3, GL_FLOAT, GL_FALSE,
0, (GLvoid*) 0);
glBindBuffer(GL_ARRAY_BUFFER, mesh_norms);
glVertexAttribPointer(shade_program->vertexNormalAttribute, 3, GL_FLOAT, GL_FALSE,
0, (GLvoid*) 0);
glBindBuffer(GL_ARRAY_BUFFER, mesh_params);
glVertexAttribPointer(shade_program->paramAttribute, 4, GL_FLOAT, GL_FALSE,
0, (GLvoid*) 0);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, mesh_indices);
//for (int i = 0; i < N; ++i)
{
glDrawElements(GL_TRIANGLE_STRIP, 2 * (M + 1) * N, GL_UNSIGNED_SHORT,
(GLvoid *) 0);
}
}
glDisableVertexAttribArray(shade_program->vertexPositionAttribute);
glDisableVertexAttribArray(shade_program->vertexNormalAttribute);
glDisableVertexAttribArray(shade_program->paramAttribute);
glDisable(GL_POLYGON_OFFSET_FILL);
}
void box::set_position(const math::vector<float, 3>& position)
{
this->position = position;
update_mesh();
}
void box::set_x(float x)
{
position.set_x(x);
update_mesh();
}
void Skeleton::update(unsigned long dt)
{
const float delta = dt / 1000.0f;
spSkeleton_update(skeleton_, delta);
spAnimationState_update(state_, delta * time_scale_);
spAnimationState_apply(state_, skeleton_);
spSkeleton_updateWorldTransform(skeleton_);
// This solution is not ideal. We iterate over the bones twice: First to
// determine number of vertices, second to update the vertex buffer.
num_vertices_ = get_vertex_count(skeleton_, &texture_);
if (num_vertices_ > max_vertices_)
{
max_vertices_ = num_vertices_;
vertices_ = std::make_unique<SpriteVertex[]>(max_vertices_);
}
size_t i = 0;
for_each(skeleton_, [this, &i](spSlot* slot) {
if (!slot->attachment)
return;
switch (slot->attachment->type)
{
case SP_ATTACHMENT_REGION: {
float vertices[8];
spRegionAttachment* region =
reinterpret_cast<spRegionAttachment*>(slot->attachment);
R_ASSERT(texture_ == get_texture(region),
kErrorMultipleTexturesUnsupported);
spRegionAttachment_computeWorldVertices(
region, slot->bone, vertices);
const char r = skeleton_->r * slot->r * 0xff;
const char g = skeleton_->g * slot->g * 0xff;
const char b = skeleton_->b * slot->b * 0xff;
const char a = skeleton_->a * slot->a * 0xff;
vertices_[i].color.r = r;
vertices_[i].color.g = g;
vertices_[i].color.b = b;
vertices_[i].color.a = a;
vertices_[i].texcoord.x = region->uvs[SP_VERTEX_X1];
vertices_[i].texcoord.y = region->uvs[SP_VERTEX_Y1];
vertices_[i].position.x = vertices[SP_VERTEX_X1];
vertices_[i].position.y = vertices[SP_VERTEX_Y1];
vertices_[++i].color.r = r;
vertices_[i].color.g = g;
vertices_[i].color.b = b;
vertices_[i].color.a = a;
vertices_[i].texcoord.x = region->uvs[SP_VERTEX_X2];
vertices_[i].texcoord.y = region->uvs[SP_VERTEX_Y2];
vertices_[i].position.x = vertices[SP_VERTEX_X2];
vertices_[i].position.y = vertices[SP_VERTEX_Y2];
vertices_[++i].color.r = r;
vertices_[i].color.g = g;
vertices_[i].color.b = b;
vertices_[i].color.a = a;
vertices_[i].texcoord.x = region->uvs[SP_VERTEX_X3];
vertices_[i].texcoord.y = region->uvs[SP_VERTEX_Y3];
vertices_[i].position.x = vertices[SP_VERTEX_X3];
vertices_[i].position.y = vertices[SP_VERTEX_Y3];
++i;
vertices_[i] = vertices_[i - 1];
vertices_[++i].color.r = r;
vertices_[i].color.g = g;
vertices_[i].color.b = b;
vertices_[i].color.a = a;
vertices_[i].texcoord.x = region->uvs[SP_VERTEX_X4];
vertices_[i].texcoord.y = region->uvs[SP_VERTEX_Y4];
vertices_[i].position.x = vertices[SP_VERTEX_X4];
vertices_[i].position.y = vertices[SP_VERTEX_Y4];
++i;
vertices_[i] = vertices_[i - 5];
++i;
break;
}
case SP_ATTACHMENT_BOUNDING_BOX:
break;
case SP_ATTACHMENT_MESH: {
spMeshAttachment* mesh =
reinterpret_cast<spMeshAttachment*>(slot->attachment);
R_ASSERT(texture_ == get_texture(mesh),
kErrorMultipleTexturesUnsupported);
i += update_mesh(&vertices_[i], skeleton_, mesh, slot);
break;
}
case SP_ATTACHMENT_SKINNED_MESH: {
spSkinnedMeshAttachment* mesh =
reinterpret_cast<spSkinnedMeshAttachment*>(
slot->attachment);
R_ASSERT(texture_ == get_texture(mesh),
kErrorMultipleTexturesUnsupported);
i += update_mesh(&vertices_[i], skeleton_, mesh, slot);
break;
}
}
if (slot->data->blendMode != SP_BLEND_MODE_NORMAL) // TODO: Implement.
LOGE("Non-normal blend mode not yet implemented");
});
vertex_buffer_.upload(vertices_.get(), i * sizeof(SpriteVertex));
}
void box::set_depth(float depth)
{
size.set_z(depth);
update_mesh();
}
void box::set_height(float height)
{
size.set_y(height);
update_mesh();
}
void box::set_y(float y)
{
position.set_y(y);
update_mesh();
}
int main(int argc, char** argv)
{
GLFWwindow* window;
int iter;
double dt;
double last_update_time;
int frame;
float f;
GLint uloc_modelview;
GLint uloc_project;
GLuint shader_program;
glfwSetErrorCallback(error_callback);
if (!glfwInit())
exit(EXIT_FAILURE);
glfwWindowHint(GLFW_RESIZABLE, GL_FALSE);
glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
window = glfwCreateWindow(800, 600, "GLFW OpenGL3 Heightmap demo", NULL, NULL);
if (! window )
{
glfwTerminate();
exit(EXIT_FAILURE);
}
/* Register events callback */
glfwSetKeyCallback(window, key_callback);
glfwMakeContextCurrent(window);
gladLoadGLLoader((GLADloadproc) glfwGetProcAddress);
/* Prepare opengl resources for rendering */
shader_program = make_shader_program(vertex_shader_text, fragment_shader_text);
if (shader_program == 0u)
{
glfwTerminate();
exit(EXIT_FAILURE);
}
glUseProgram(shader_program);
uloc_project = glGetUniformLocation(shader_program, "project");
uloc_modelview = glGetUniformLocation(shader_program, "modelview");
/* Compute the projection matrix */
f = 1.0f / tanf(view_angle / 2.0f);
projection_matrix[0] = f / aspect_ratio;
projection_matrix[5] = f;
projection_matrix[10] = (z_far + z_near)/ (z_near - z_far);
projection_matrix[11] = -1.0f;
projection_matrix[14] = 2.0f * (z_far * z_near) / (z_near - z_far);
glUniformMatrix4fv(uloc_project, 1, GL_FALSE, projection_matrix);
/* Set the camera position */
modelview_matrix[12] = -5.0f;
modelview_matrix[13] = -5.0f;
modelview_matrix[14] = -20.0f;
glUniformMatrix4fv(uloc_modelview, 1, GL_FALSE, modelview_matrix);
/* Create mesh data */
init_map();
make_mesh(shader_program);
/* Create vao + vbo to store the mesh */
/* Create the vbo to store all the information for the grid and the height */
/* setup the scene ready for rendering */
glViewport(0, 0, 800, 600);
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
/* main loop */
frame = 0;
iter = 0;
last_update_time = glfwGetTime();
while (!glfwWindowShouldClose(window))
{
++frame;
/* render the next frame */
glClear(GL_COLOR_BUFFER_BIT);
glDrawElements(GL_LINES, 2* MAP_NUM_LINES , GL_UNSIGNED_INT, 0);
/* display and process events through callbacks */
glfwSwapBuffers(window);
glfwPollEvents();
/* Check the frame rate and update the heightmap if needed */
dt = glfwGetTime();
if ((dt - last_update_time) > 0.2)
{
/* generate the next iteration of the heightmap */
if (iter < MAX_ITER)
{
update_map(NUM_ITER_AT_A_TIME);
update_mesh();
iter += NUM_ITER_AT_A_TIME;
}
last_update_time = dt;
frame = 0;
}
}
glfwTerminate();
exit(EXIT_SUCCESS);
}
void box::set_z(float z)
{
position.set_z(z);
update_mesh();
}
void box::set_size(const math::vector<float, 3>& size)
{
this->size = size;
update_mesh();
}
void box::set_length(float length)
{
size.set_x(length);
update_mesh();
}
int main(int argc, char** argv)
{
GLFWwindow window;
int ch, iter;
double dt;
double last_update_time;
int frame;
float f;
GLint uloc_modelview;
GLint uloc_project;
char* vertex_shader_path = NULL;
char* fragment_shader_path = NULL;
char* vertex_shader_src = NULL;
char* fragment_shader_src = NULL;
GLuint shader_program;
while ((ch = getopt(argc, argv, "f:v:h")) != -1)
{
switch (ch)
{
case 'f':
fragment_shader_path = optarg;
break;
case 'v':
vertex_shader_path = optarg;
break;
case 'h':
usage();
exit(EXIT_SUCCESS);
default:
usage();
exit(EXIT_FAILURE);
}
}
if (fragment_shader_path)
{
vertex_shader_src = read_file_content(fragment_shader_path);
if (!fragment_shader_src)
{
fprintf(stderr,
"ERROR: unable to load fragment shader from '%s'\n",
fragment_shader_path);
exit(EXIT_FAILURE);
}
}
if (vertex_shader_path)
{
vertex_shader_src = read_file_content(vertex_shader_path);
if (!vertex_shader_src)
{
fprintf(stderr,
"ERROR: unable to load vertex shader from '%s'\n",
fragment_shader_path);
exit(EXIT_FAILURE);
}
}
if (!glfwInit())
{
fprintf(stderr, "ERROR: Unable to initialize GLFW\n");
usage();
free(vertex_shader_src);
free(fragment_shader_src);
exit(EXIT_FAILURE);
}
glfwOpenWindowHint(GLFW_WINDOW_RESIZABLE, GL_FALSE);
glfwOpenWindowHint(GLFW_OPENGL_VERSION_MAJOR, 3);
glfwOpenWindowHint(GLFW_OPENGL_VERSION_MINOR, 2);
glfwOpenWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
glfwOpenWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_FALSE);
window = glfwOpenWindow(800, 600, GLFW_WINDOWED, "GLFW OpenGL3 Heightmap demo", NULL);
if (! window )
{
fprintf(stderr, "ERROR: Unable to create the OpenGL context and associated window\n");
usage();
free(vertex_shader_src);
free(fragment_shader_src);
exit(EXIT_FAILURE);
}
glfwSetWindowCloseCallback(window_close_callback);
glfwSetKeyCallback(key_callback);
/* Register events callback */
if (GL_TRUE != init_opengl())
{
fprintf(stderr, "ERROR: unable to resolve OpenGL function pointers\n");
free(vertex_shader_src);
free(fragment_shader_src);
exit(EXIT_FAILURE);
}
/* Prepare opengl resources for rendering */
shader_program = make_shader_program(vertex_shader_src , fragment_shader_src);
free(vertex_shader_src);
free(fragment_shader_src);
if (shader_program == 0u)
{
fprintf(stderr, "ERROR: during creation of the shader program\n");
usage();
exit(EXIT_FAILURE);
}
pglUseProgram(shader_program);
uloc_project = pglGetUniformLocation(shader_program, "project");
uloc_modelview = pglGetUniformLocation(shader_program, "modelview");
/* Compute the projection matrix */
f = 1.0f / tanf(view_angle / 2.0f);
projection_matrix[0] = f / aspect_ratio;
projection_matrix[5] = f;
projection_matrix[10] = (z_far + z_near)/ (z_near - z_far);
projection_matrix[11] = -1.0f;
projection_matrix[14] = 2.0f * (z_far * z_near) / (z_near - z_far);
pglUniformMatrix4fv(uloc_project, 1, GL_FALSE, projection_matrix);
/* Set the camera position */
modelview_matrix[12] = -5.0f;
modelview_matrix[13] = -5.0f;
modelview_matrix[14] = -20.0f;
pglUniformMatrix4fv(uloc_modelview, 1, GL_FALSE, modelview_matrix);
/* Create mesh data */
init_map();
make_mesh(shader_program);
/* Create vao + vbo to store the mesh */
/* Create the vbo to store all the information for the grid and the height */
/* setup the scene ready for rendering */
glViewport(0, 0, 800, 600);
glClearColor(0.0f, 0.0f, 0.0f, 0.0f);
/* main loop */
frame = 0;
iter = 0;
dt = last_update_time = glfwGetTime();
while (running)
{
++frame;
/* render the next frame */
glClear(GL_COLOR_BUFFER_BIT);
glDrawElements(GL_LINES, 2* MAP_NUM_LINES , GL_UNSIGNED_INT, 0);
/* display and process events through callbacks */
glfwSwapBuffers();
glfwPollEvents();
/* Check the frame rate and update the heightmap if needed */
dt = glfwGetTime();
if ((dt - last_update_time) > 0.2)
{
/* generate the next iteration of the heightmap */
if (iter < MAX_ITER)
{
update_map(NUM_ITER_AT_A_TIME);
update_mesh();
iter += NUM_ITER_AT_A_TIME;
}
last_update_time = dt;
frame = 0;
}
}
exit(EXIT_SUCCESS);
}
void World::process_completed_chunk_update(decltype(ChunkUpdateArray::value_type::first)& chunk_update)
{
auto chunk = get_chunk(chunk_update->get_x(), chunk_update->get_y(), chunk_update->get_z());
if (!chunk)
{
// Chunk has been unloaded while we were updating it's data
return;
}
chunk->update_mesh(chunk_update->get_vertices().data(), chunk_update->get_indices().data(), chunk_update->get_num_vertices(), chunk_update->get_num_indices());
// If this chunk has just been filled, we need to update any adjacent chunks that are now
// completely surrounded. This is to achieve full obstruction culling for those chunks.
auto update_chunk_if_surrounded = [this](int chunk_x, int chunk_y, int chunk_z)
{
Chunk* chunk = get_chunk(chunk_x, chunk_y, chunk_z);
if (!chunk)
{
return;
}
Chunk* adjacent = get_chunk(chunk_x - 1, chunk_y, chunk_z);
if (adjacent && !adjacent->filled())
{
return;
}
adjacent = get_chunk(chunk_x + 1, chunk_y, chunk_z);
if (adjacent && !adjacent->filled())
{
return;
}
adjacent = get_chunk(chunk_x, chunk_y - 1, chunk_z);
if (adjacent && !adjacent->filled())
{
return;
}
adjacent = get_chunk(chunk_x, chunk_y + 1, chunk_z);
if (adjacent && !adjacent->filled())
{
return;
}
adjacent = get_chunk(chunk_x, chunk_y, chunk_z - 1);
if (adjacent && !adjacent->filled())
{
return;
}
adjacent = get_chunk(chunk_x, chunk_y, chunk_z + 1);
if (adjacent && !adjacent->filled())
{
return;
}
chunk->set_up_to_date(false);
};
if (!chunk->filled())
{
chunk->set_filled(true);
update_chunk_if_surrounded(chunk->get_x() - 1, chunk->get_y(), chunk->get_z());
update_chunk_if_surrounded(chunk->get_x() + 1, chunk->get_y(), chunk->get_z());
update_chunk_if_surrounded(chunk->get_x(), chunk->get_y() - 1, chunk->get_z());
update_chunk_if_surrounded(chunk->get_x(), chunk->get_y() + 1, chunk->get_z());
update_chunk_if_surrounded(chunk->get_x(), chunk->get_y(), chunk->get_z() - 1);
update_chunk_if_surrounded(chunk->get_x(), chunk->get_y(), chunk->get_z() + 1);
}
if (!chunk->reupdate())
{
chunk->set_up_to_date(true);
}
chunk->set_update_queued(false);
chunk->set_low_priority_update(false);
}