// *******************************************************
// display(): called once per frame, whenever OpenGL decides it's time to redraw.
virtual void display( float animation_delta_time, Vector2d &window_steering )
{
if( animate ) animation_time += animation_delta_time;
update_camera( animation_delta_time , window_steering );
int basis_id = 0;
float atime = animation_time * 10;
Matrix4d model_transform = Matrix4d::Identity();
Matrix4d std_model = model_transform;
*m_tree = Tree(Matrix4d::Identity(), atime);
// Start coding here!!!!
m_bee->timepassby(atime);
// Plane
model_transform = std_model * Affine3d(Translation3d(5, -5, -60)).matrix(); // Position
glUniform4fv(g_addrs->color_loc, 1, Vector4f(.0f, .7f, .9f, 1).data()); // Color
m_plane->draw ( projection_transform, camera_transform, model_transform, "" );
// Tree
model_transform = std_model * Affine3d(Translation3d(4, -5, -40)).matrix(); // Position
glUniform4fv( g_addrs->color_loc, 1, Vector4f( .0f, .6f ,.2f ,1 ).data()); // Color
m_tree->draw( basis_id++, projection_transform, camera_transform, model_transform, "");
// Leg
model_transform = std_model * Affine3d(Translation3d(4, 1+2*(abs(20.0 - ((int)atime % 41)))/10, -40)).matrix(); // Position
model_transform *= Affine3d(AngleAxisd((-PI / 60 * atime), Vector3d(0, 1, 0))).matrix();
model_transform *= Affine3d(Translation3d(20, 0, 0)).matrix();
m_bee->draw(basis_id++, projection_transform, camera_transform, model_transform, "");
}
cv::Affine3d cv::viz::Widget3D::getPose() const
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D." && actor);
if (!actor->GetUserMatrix())
{
return Affine3d(); // empty user matrix, return an identity transform.
}
return Affine3d(*actor->GetUserMatrix()->Element);
}
void test_qtvector()
{
// some non vectorizable fixed sizes
CALL_SUBTEST(check_qtvector_matrix(Vector2f()));
CALL_SUBTEST(check_qtvector_matrix(Matrix3f()));
CALL_SUBTEST(check_qtvector_matrix(Matrix3d()));
// some vectorizable fixed sizes
CALL_SUBTEST(check_qtvector_matrix(Matrix2f()));
CALL_SUBTEST(check_qtvector_matrix(Vector4f()));
CALL_SUBTEST(check_qtvector_matrix(Matrix4f()));
CALL_SUBTEST(check_qtvector_matrix(Matrix4d()));
// some dynamic sizes
CALL_SUBTEST(check_qtvector_matrix(MatrixXd(1,1)));
CALL_SUBTEST(check_qtvector_matrix(VectorXd(20)));
CALL_SUBTEST(check_qtvector_matrix(RowVectorXf(20)));
CALL_SUBTEST(check_qtvector_matrix(MatrixXcf(10,10)));
// some Transform
CALL_SUBTEST(check_qtvector_transform(Affine2f()));
CALL_SUBTEST(check_qtvector_transform(Affine3f()));
CALL_SUBTEST(check_qtvector_transform(Affine3d()));
//CALL_SUBTEST(check_qtvector_transform(Transform4d()));
// some Quaternion
CALL_SUBTEST(check_qtvector_quaternion(Quaternionf()));
CALL_SUBTEST(check_qtvector_quaternion(Quaternionf()));
}
void test_stdvector_overload()
{
// some non vectorizable fixed sizes
CALL_SUBTEST_1(check_stdvector_matrix(Vector2f()));
CALL_SUBTEST_1(check_stdvector_matrix(Matrix3f()));
CALL_SUBTEST_2(check_stdvector_matrix(Matrix3d()));
// some vectorizable fixed sizes
CALL_SUBTEST_1(check_stdvector_matrix(Matrix2f()));
CALL_SUBTEST_1(check_stdvector_matrix(Vector4f()));
CALL_SUBTEST_1(check_stdvector_matrix(Matrix4f()));
CALL_SUBTEST_2(check_stdvector_matrix(Matrix4d()));
// some dynamic sizes
CALL_SUBTEST_3(check_stdvector_matrix(MatrixXd(1,1)));
CALL_SUBTEST_3(check_stdvector_matrix(VectorXd(20)));
CALL_SUBTEST_3(check_stdvector_matrix(RowVectorXf(20)));
CALL_SUBTEST_3(check_stdvector_matrix(MatrixXcf(10,10)));
// some Transform
CALL_SUBTEST_4(check_stdvector_transform(Affine2f())); // does not need the specialization (2+1)^2 = 9
CALL_SUBTEST_4(check_stdvector_transform(Affine3f()));
CALL_SUBTEST_4(check_stdvector_transform(Affine3d()));
// some Quaternion
CALL_SUBTEST_5(check_stdvector_quaternion(Quaternionf()));
CALL_SUBTEST_5(check_stdvector_quaternion(Quaterniond()));
}
void test_stddeque()
{
// some non vectorizable fixed sizes
CALL_SUBTEST_1(check_stddeque_matrix(Vector2f()));
CALL_SUBTEST_1(check_stddeque_matrix(Matrix3f()));
CALL_SUBTEST_2(check_stddeque_matrix(Matrix3d()));
// some vectorizable fixed sizes
CALL_SUBTEST_1(check_stddeque_matrix(Matrix2f()));
CALL_SUBTEST_1(check_stddeque_matrix(Vector4f()));
CALL_SUBTEST_1(check_stddeque_matrix(Matrix4f()));
CALL_SUBTEST_2(check_stddeque_matrix(Matrix4d()));
// some dynamic sizes
CALL_SUBTEST_3(check_stddeque_matrix(MatrixXd(1,1)));
CALL_SUBTEST_3(check_stddeque_matrix(VectorXd(20)));
CALL_SUBTEST_3(check_stddeque_matrix(RowVectorXf(20)));
CALL_SUBTEST_3(check_stddeque_matrix(MatrixXcf(10,10)));
// some Transform
CALL_SUBTEST_4(check_stddeque_transform(Affine2f()));
CALL_SUBTEST_4(check_stddeque_transform(Affine3f()));
CALL_SUBTEST_4(check_stddeque_transform(Affine3d()));
// some Quaternion
CALL_SUBTEST_5(check_stddeque_quaternion(Quaternionf()));
CALL_SUBTEST_5(check_stddeque_quaternion(Quaterniond()));
}
cv::Affine3d cv::viz::makeTransformToGlobal(const Vec3d& axis_x, const Vec3d& axis_y, const Vec3d& axis_z, const Vec3d& origin)
{
Affine3d::Mat3 R(axis_x[0], axis_y[0], axis_z[0],
axis_x[1], axis_y[1], axis_z[1],
axis_x[2], axis_y[2], axis_z[2]);
return Affine3d(R, origin);
}
void update_camera( float animation_delta_time, Vector2d &window_steering )
{
const unsigned leeway = 70, border = 50;
float degrees_per_frame = .02f * animation_delta_time;
float meters_per_frame = 10.f * animation_delta_time;
cout << animation_time << endl;
// Determine camera rotation movement first
Vector2f movement_plus ( window_steering[0] + leeway, window_steering[1] + leeway ); // movement[] is mouse position relative to canvas center; leeway is a tolerance from the center.
Vector2f movement_minus ( window_steering[0] - leeway, window_steering[1] - leeway );
bool outside_border = false;
for( int i = 0; i < 2; i++ )
if ( abs( window_steering[i] ) > g.get_window_size()[i]/2 - border ) outside_border = true; // Stop steering if we're on the outer edge of the canvas.
for( int i = 0; looking && outside_border == false && i < 2; i++ ) // Steer according to "movement" vector, but don't start increasing until outside a leeway window from the center.
{
float angular_velocity = ( ( movement_minus[i] > 0) * movement_minus[i] + ( movement_plus[i] < 0 ) * movement_plus[i] ) * degrees_per_frame; // Use movement's quantity conditionally
camera_transform = Affine3d( AngleAxisd( angular_velocity, Vector3d( i, 1-i, 0 ) ) ) * camera_transform; // On X step, rotate around Y axis, and vice versa.
}
camera_transform = Affine3d(Translation3d( meters_per_frame * thrust )) * camera_transform; // Now translation movement of camera, applied in local camera coordinate frame
}
void cv::viz::Widget3D::updatePose(const Affine3d &pose)
{
vtkProp3D *actor = vtkProp3D::SafeDownCast(WidgetAccessor::getProp(*this));
CV_Assert("Widget is not 3D." && actor);
vtkSmartPointer<vtkMatrix4x4> matrix = actor->GetUserMatrix();
if (!matrix)
{
setPose(pose);
return;
}
Affine3d updated_pose = pose * Affine3d(*matrix->Element);
matrix = vtkmatrix(updated_pose.matrix);
actor->SetUserMatrix(matrix);
actor->Modified();
}
void roll_right() { camera_transform *= Affine3d( AngleAxisd( 3 * PI /180, Vector3d( 0, 0, -1 ) ) ).matrix(); }
