void FallBackSplitter<Heuristic,PrimRefBlockList>::split(size_t threadIndex, PrimRefAlloc* alloc,
const RTCGeometry* geom,
PrimRefBlockList& prims, const PrimInfo& pinfo,
PrimRefBlockList& lprims, PrimInfo& linfo, Split& lsplit,
PrimRefBlockList& rprims, PrimInfo& rinfo, Split& rsplit)
{
/* enforce split */
size_t lnum = 0; BBox3f lgeomBounds = empty; BBox3f lcentBounds = empty;
size_t rnum = 0; BBox3f rgeomBounds = empty; BBox3f rcentBounds = empty;
atomic_set<PrimRefBlock>::item* lblock = lprims.insert(alloc->malloc(threadIndex));
atomic_set<PrimRefBlock>::item* rblock = rprims.insert(alloc->malloc(threadIndex));
while (atomic_set<PrimRefBlock>::item* block = prims.take())
{
for (size_t i=0; i<block->size(); i++)
{
const PrimRef& prim = block->at(i);
const BBox3f bounds = prim.bounds();
if ((lnum+rnum)&1)
{
lnum++;
lgeomBounds.grow(bounds);
lcentBounds.grow(center2(bounds));
if (likely(lblock->insert(prim))) continue;
lblock = lprims.insert(alloc->malloc(threadIndex));
lblock->insert(prim);
} else {
rnum++;
rgeomBounds.grow(bounds);
rcentBounds.grow(center2(bounds));
if (likely(rblock->insert(prim))) continue;
rblock = rprims.insert(alloc->malloc(threadIndex));
rblock->insert(prim);
}
}
}
new (&linfo) PrimInfo(lnum,lgeomBounds,lcentBounds);
new (&rinfo) PrimInfo(rnum,rgeomBounds,rcentBounds);
/* perform binning of left side */
Heuristic lheuristic(linfo,geom);
typename PrimRefBlockList::iterator liter(lprims);
while (typename PrimRefBlockList::item* block = liter.next()) {
lheuristic.bin(block->base(),block->size());
}
lheuristic.best(lsplit);
/* perform binning of right side */
Heuristic rheuristic(rinfo,geom);
typename PrimRefBlockList::iterator riter(rprims);
while (typename PrimRefBlockList::item* block = riter.next()) {
rheuristic.bin(block->base(),block->size());
}
rheuristic.best(rsplit);
}
void DrawMatches(
const std::string& title,
const cv::Mat image,
const cv::Mat points1,
const cv::Mat points2,
const cv::Scalar& color1,
const cv::Scalar& color2,
bool draw_image_borders)
{
cv::Mat draw_image;
if (image.type() == CV_8U)
{
cvtColor(image, draw_image, CV_GRAY2BGR);
}
else
{
draw_image = image.clone();
}
for (int i = 0; i < points1.rows; i++)
{
cv::Point2f center1(
cvRound(points1.at<cv::Vec2f>(0, i)[0] * 16.0),
cvRound(points1.at<cv::Vec2f>(0, i)[1] * 16.0));
cv::Point2f center2(cvRound(
points2.at<cv::Vec2f>(0, i)[0] * 16.0),
cvRound(points2.at<cv::Vec2f>(0, i)[1] * 16.0));
circle(draw_image, center1, 48, color1, 1, CV_AA, 4);
line(draw_image, center1, center2, color2, 1, CV_AA, 4);
}
opencv_util::ShowScaled(title, draw_image);
}
void BaseVH::buildMostOrthogonalCameras()
{
int numSilhouetteCams = mSilhouetteCameras.size();
int numCams = mCalibration->get_cam_count();
mMostOrthogonalCamera.clear();
mMostOrthogonalCamera.resize( numCams , -1 );
mIsCameraUsed.clear();
mIsCameraUsed.resize( numCams , 0 );
for( int cc = 0; cc < numCams; cc++ )
{
int camId1 = cc;
Vector3d cameraRay1;
double width1 = mCalibration->get_image_width( camId1 );
double height1 = mCalibration->get_image_height( camId1 );
Eigen::Vector2d center1( width1 / 2 , height1 / 2 );
mCalibration->getRay( camId1 , center1 , cameraRay1 );
double prevVal = 1;
int mostOrthogonalCam = -1;
for( int sc = 0; sc < numSilhouetteCams; sc++ )
{
int camId2 = mSilhouetteCameras[ sc ];
double width2 = mCalibration->get_image_width( camId2 );
double height2 = mCalibration->get_image_height( camId2 );
Eigen::Vector2d center2( width2 / 2 , height2 / 2 );
Vector3d cameraRay2;
mCalibration->getRay( camId2 , center2 , cameraRay2 );
double dot = cameraRay1.dot( cameraRay2 );
if( abs( dot ) < prevVal )
{
prevVal = abs( dot );
mostOrthogonalCam = camId2;
}
}
mMostOrthogonalCamera[ camId1 ] = mostOrthogonalCam;
}
}
PrimRefGen<Heuristic>::PrimRefGen(size_t threadIndex, size_t threadCount, const BuildSource* geom, PrimRefAlloc* alloc)
: geom(geom), numPrimitives(0), numVertices(0), alloc(alloc)
{
/* compute number of primitives */
size_t numGroups = geom->groups();
for (size_t g=0; g<numGroups; g++) {
size_t vertices = 0;
numPrimitives += geom->prims(g,&vertices);
numVertices += vertices;
}
/* approximate bounds */
BBox3fa geomBound = empty, centBound = empty;
size_t s = 0, t = 0, dt = max(size_t(1),numPrimitives/2048);
for (size_t g=0; g<numGroups; g++)
{
size_t numPrims = geom->prims(g);
for (size_t i=t-s; i<numPrims; i+=dt, t+=dt) {
BBox3fa bounds = geom->bounds(g,i);
geomBound.extend(bounds);
centBound.extend(center2(bounds));
}
s += numPrims;
}
new (&pinfo) PrimInfo(numPrimitives,geomBound,centBound);
/* compute start group and primitives */
size_t g=0, i=0;
for (size_t k=0; k<numTasks; k++)
{
size_t start = (k+0)*numPrimitives/numTasks;
size_t end = (k+1)*numPrimitives/numTasks;
size_t size = end-start;
work[k].startGroup = g;
work[k].startPrim = i;
work[k].numPrims = size;
for (; g<numGroups; g++)
{
size_t numPrims = geom->prims(g)-i;
if (size < numPrims) {
i += size;
break;
}
size -= numPrims;
i = 0;
}
}
/* start parallel task */
TaskScheduler::executeTask(threadIndex,threadCount,
_task_gen_parallel,this,numTasks,
_task_gen_parallel_reduce,this,
"build::primrefgen");
}
void FallBackSplitter<Heuristic,PrimRefBlockList>::split(size_t threadIndex, PrimRefAlloc* alloc,
const RTCGeometry* geom,
PrimRefBlockList& prims, const PrimInfo& pinfo,
PrimRefBlockList& lprims, PrimInfo& linfo,
PrimRefBlockList& rprims, PrimInfo& rinfo)
{
/* enforce split */
size_t lnum = 0; BBox3f lgeomBounds = empty; BBox3f lcentBounds = empty;
size_t rnum = 0; BBox3f rgeomBounds = empty; BBox3f rcentBounds = empty;
atomic_set<PrimRefBlock>::item* lblock = lprims.insert(alloc->malloc(threadIndex));
atomic_set<PrimRefBlock>::item* rblock = rprims.insert(alloc->malloc(threadIndex));
while (atomic_set<PrimRefBlock>::item* block = prims.take())
{
for (size_t i=0; i<block->size(); i++)
{
const PrimRef& prim = block->at(i);
const BBox3f bounds = prim.bounds();
if ((lnum+rnum)&1)
{
lnum++;
lgeomBounds.grow(bounds);
lcentBounds.grow(center2(bounds));
if (likely(lblock->insert(prim))) continue;
lblock = lprims.insert(alloc->malloc(threadIndex));
lblock->insert(prim);
} else {
rnum++;
rgeomBounds.grow(bounds);
rcentBounds.grow(center2(bounds));
if (likely(rblock->insert(prim))) continue;
rblock = rprims.insert(alloc->malloc(threadIndex));
rblock->insert(prim);
}
}
}
new (&linfo) PrimInfo(lnum,lgeomBounds,lcentBounds);
new (&rinfo) PrimInfo(rnum,rgeomBounds,rcentBounds);
}
//This function sets up the two shapes we need for this example.
void setup()
{
int NumberOfDivisions = 20;
line.point1 = glm::vec3(-0.5f, 0.5f, 0.0f);
line.point2 = glm::vec3(-0.5f, -0.5f, 0.0f);
float radius = 0.25f;
cylinder.radius = radius;
cylinder.point1 = glm::vec3(0.0f, 0.5f, 0.0f);
cylinder.point2 = glm::vec3(0.0f, -0.5f, 0.0f);
VertexFormat center1(cylinder.point1, glm::vec4(1.0f, 0.0f, 0.0f, 1.0f));
VertexFormat center2(cylinder.point2, glm::vec4(1.0f, 0.0f, 0.0f, 1.0f));
std::vector<VertexFormat> vertices;
float height = glm::distance(cylinder.point1, cylinder.point2);
float theta = 360.0f / NumberOfDivisions;
VertexFormat A, B, C, D;
//Circle vertex generation
//In this example we are not implementing the proper the code for indices. We are just going to produce redundant information in the buffer.
//since we are only having a small number of objects on the screen currently, this redundancy should not matter.
for (int i = 0; i < NumberOfDivisions; i++)
{
A = VertexFormat(glm::vec3(radius * cos(glm::radians(i*theta)),0.5f, radius * sin(glm::radians(i*theta))), glm::vec4(0.7f, 0.20f, 0.0f, 1.0f));
B = VertexFormat(glm::vec3(radius * cos(glm::radians((i + 1)*theta)), 0.5f, radius * sin(glm::radians((i + 1)*theta))), glm::vec4(0.7f, 0.20f, 0.0f, 1.0f));
C = VertexFormat(glm::vec3(radius * cos(glm::radians(i*theta)), -0.5f, radius * sin(glm::radians(i*theta))), glm::vec4(0.0f, 0.20f, 0.7f, 1.0f));
D = VertexFormat(glm::vec3(radius * cos(glm::radians((i + 1)*theta)), -0.5f, radius * sin(glm::radians((i + 1)*theta))), glm::vec4(0.0f, 0.20f, 0.7f, 1.0f));
//In every iteration, the center, the point at angle theta and at angle (theta+delta) are fed into the buffer.
vertices.push_back(center1);
vertices.push_back(A);
vertices.push_back(B);
vertices.push_back(center2);
vertices.push_back(C);
vertices.push_back(D);
vertices.push_back(A);
vertices.push_back(C);
vertices.push_back(B);
vertices.push_back(C);
vertices.push_back(D);
vertices.push_back(B);
}
cylinder.base.initBuffer(12 * NumberOfDivisions, &vertices[0]);
}
int BaseVH::getMostOrthogonalUnusedCamera(int camId)
{
Vector3d cameraRay1;
double width1 = mCalibration->get_image_width( camId );
double height1 = mCalibration->get_image_height( camId );
cv::Point2f center1( width1 / 2 , height1 / 2 );
mCalibration->getRay( camId , center1 , cameraRay1 );
double prevVal = 1;
int mostOrthogonalCam = -1;
int numSilhouetteCams = mSilhouetteCameras.size();
for( int sc = 0; sc < numSilhouetteCams; sc++ )
{
int camId2 = mSilhouetteCameras[ sc ];
if( camId2 == camId )
continue;
double width2 = mCalibration->get_image_width( camId2 );
double height2 = mCalibration->get_image_height( camId2 );
cv::Point2f center2( width2 / 2 , height2 / 2 );
Vector3d cameraRay2;
mCalibration->getRay( camId2 , center2 , cameraRay2 );
double dot = cameraRay1.dot( cameraRay2 );
if( abs( dot ) < prevVal && !mIsCameraUsed[ camId2 ] )
{
prevVal = dot;
mostOrthogonalCam = camId2;
}
}
return mostOrthogonalCam;
}
void PrimRefGen<Heuristic>::task_gen_parallel(size_t threadIndex, size_t threadCount, size_t taskIndex, size_t taskCount, TaskScheduler::Event* event)
{
Heuristic& heuristic = heuristics[taskIndex];
new (&heuristic) Heuristic(pinfo,geom);
/* static work allocation */
size_t g = work[taskIndex].startGroup;
size_t i = work[taskIndex].startPrim;
size_t numPrims = work[taskIndex].numPrims;
size_t numGroupPrims = numPrims ? geom->prims(g) : 0;
size_t numAddedPrims = 0;
BBox3fa geomBound = empty, centBound = empty;
typename atomic_set<PrimRefBlock>::item* block = prims.insert(alloc->malloc(threadIndex));
for (size_t p=0; p<numPrims; p++, i++)
{
/* goto next group */
while (i == numGroupPrims) {
g++; i = 0;
numGroupPrims = geom->prims(g);
}
const BBox3fa b = geom->bounds(g,i);
if (b.empty()) continue;
numAddedPrims++;
geomBound.extend(b);
centBound.extend(center2(b));
const PrimRef prim = PrimRef(b,g,i);
if (likely(block->insert(prim))) continue;
heuristic.bin(block->base(),block->size());
block = prims.insert(alloc->malloc(threadIndex));
block->insert(prim);
}
heuristic.bin(block->base(),block->size());
geomBounds[taskIndex] = geomBound;
centBounds[taskIndex] = centBound;
work[taskIndex].numPrims = numAddedPrims;
}
void Glut2DView::Reshape(int w, int h)
{
// find screen centers before and after resize
Vertex2d center(m_windowSize.x / 2.0, m_windowSize.y / 2.0);
Vertex2d center2(w / 2.0, h / 2.0);
Vertex2d wcenter = ScreenToWorld((int) center.x, (int) center.y);
// move the focus to center of screen
SetFocus(wcenter.x, wcenter.y);
// find scaling factor for resizing
double len1 = std::min(center.x, center.y);
double len2 = std::min(center2.x, center2.y);
double scale = len2 / len1;
// change zoom and translation in order to keep world centered and in view
m_trans = m_trans + center2 - center;
m_zoom = m_zoom * scale;
// set view port and window size
glViewport(0, 0, w, h);
m_windowSize.Set(w, h);
// set projection
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0, w, 0, h, -1.0, 1.0);
// window has resized
for (ListenerIter iter = m_listeners.begin();
iter != m_listeners.end(); iter++)
{
(*iter)->ViewResize(this);
}
MakeCurrentWindow();
}
void TectonicPlateSimulation::Cut(b2Vec2 from, b2Vec2 to)
{
bool pointsAreEqual = from.x == to.x && from.y == to.y;
if(pointsAreEqual) return;
std::vector<b2Body*> affectedBodies;
std::vector<b2PolygonShape*> affectedPolygonShapes;
std::vector<b2Vec2> points;
MyRayCastCallback callback1;
world.RayCast(&callback1, from, to);
for(int i = 0; i < callback1.m_count; i++) {
points.push_back(callback1.m_points[i]);
//m_debugDraw.DrawPoint(points.back(), 5.0f, b2Color(0.9f, 0.4f, 0.4f));
if(std::find(affectedBodies.begin(), affectedBodies.end(), callback1.m_bodies[i]) == affectedBodies.end()) { // does not contain
affectedBodies.push_back(callback1.m_bodies[i]);
affectedPolygonShapes.push_back(callback1.m_polygonShapes[i]);
}
}
MyRayCastCallback callback2;
world.RayCast(&callback2, to, from);
for(int i = 0; i < callback2.m_count; i++) {
int index = (int)(find(affectedBodies.begin(), affectedBodies.end(), callback2.m_bodies[i]) - affectedBodies.begin());
if(index < affectedBodies.size()) { // does contain
points.push_back(callback2.m_points[i]);
//m_debugDraw.DrawPoint(points.back(), 5.0f, b2Color(0.4f, 0.4f, 0.9f));
b2Vec2 rayCenter((points.back().x + points[index].x) / 2.0f, (points.back().y + points[index].y) / 2.0f);
//m_debugDraw.DrawPoint(rayCenter, 5.0f, b2Color(0.4f, 0.9f, 0.4f));
float rayAngle = atan2f(points[index].y - points.back().y, points[index].x - points.back().x);
std::vector<b2Vec2> vertices1;
std::vector<b2Vec2> vertices2;
for(int j = 0; j < affectedPolygonShapes[index]->GetVertexCount(); j++) {
b2Vec2 polygonVertex = affectedBodies[index]->GetWorldPoint(affectedPolygonShapes[index]->GetVertex(j));
float cutAngle = atan2f(polygonVertex.y - rayCenter.y, polygonVertex.x - rayCenter.x) - rayAngle;
if(cutAngle < M_PI*-1.0f) {
cutAngle += 2.0f * M_PI;
}
if(cutAngle > 0.0f && cutAngle <= M_PI) {
vertices1.push_back(polygonVertex);
//m_debugDraw.DrawPoint(polygonVertex, 5.0f, b2Color(0.4f, 0.9f, 0.9f));
} else {
vertices2.push_back(polygonVertex);
//m_debugDraw.DrawPoint(polygonVertex, 5.0f, b2Color(0.9f, 0.9f, 0.4f));
}
}
vertices1.push_back(points[index]);
vertices1.push_back(points.back());
vertices2.push_back(points.back());
vertices2.push_back(points[index]);
bool cutLegitimate = true;
for(int j = 0; j < vertices1.size() && cutLegitimate; j++) {
b2Vec2 edge = vertices1[(j + 1) % vertices1.size()] - vertices1[j];
if(edge.Length() <= 0.1f) cutLegitimate = false;
}
for(int j = 0; j < vertices2.size() && cutLegitimate; j++) {
b2Vec2 edge = vertices2[(j + 1) % vertices2.size()] - vertices2[j];
if(edge.Length() <= 0.1f) cutLegitimate = false;
}
bool polygonDegenerate = false;
float epsilon = 0.1f;
for(int j = 0; j < vertices1.size() && !polygonDegenerate; j++) {
b2Vec2 v1 = vertices1[j];
for(int k = 0; k < vertices1.size() && !polygonDegenerate; k++) {
if(k == j) continue;
b2Vec2 v2 = vertices1[k];
if(fabs(v1.x - v2.x) < epsilon && fabs(v1.y - v2.y) < epsilon) polygonDegenerate = true;
}
}
for(int j = 0; j < vertices2.size() && !polygonDegenerate; j++) {
b2Vec2 v1 = vertices2[j];
for(int k = 0; k < vertices2.size() && !polygonDegenerate; k++) {
if(k == j) continue;
b2Vec2 v2 = vertices2[k];
if(fabs(v1.x - v2.x) < epsilon && fabs(v1.y - v2.y) < epsilon) polygonDegenerate = true;
}
}
if(vertices1.size() < 3 || vertices1.size() > 8 || vertices2.size() < 3 || vertices2.size() > 8 || polygonDegenerate) {
if(i < callback2.m_count - 1) to = callback2.m_points[i+1];
else to = from;
continue;
}
b2Vec2 center1(0,0);
b2Vec2 center2(0,0);
for(int i = 0; i < vertices1.size(); i++) {
center1 += vertices1[i];
}
center1 *= 1.0f / vertices1.size();
for(int i = 0; i < vertices1.size(); i++) {
vertices1[i] -= center1;
}
for(int i = 0; i < vertices2.size(); i++) {
center2 += vertices2[i];
}
center2 *= 1.0f / vertices2.size();
for(int i = 0; i < vertices2.size(); i++) {
vertices2[i] -= center2;
}
//body definition
b2BodyDef myBodyDef;
myBodyDef.type = b2_dynamicBody;
//shape definition
b2PolygonShape polygonShape;
//fixture definition
b2FixtureDef myFixtureDef;
myFixtureDef.shape = &polygonShape;
myFixtureDef.density = 1;
myFixtureDef.restitution = 0.5;
myBodyDef.position.Set(center1.x, center1.y);
polygonShape.Set(&vertices1[0], (int)vertices1.size());
b2Body* body1 = world.CreateBody(&myBodyDef);
body1->CreateFixture(&myFixtureDef);
body1->SetLinearVelocity(affectedBodies[index]->GetLinearVelocity());
body1->SetAngularVelocity(affectedBodies[index]->GetAngularVelocity());
myBodyDef.position.Set(center2.x, center2.y);
polygonShape.Set(&vertices2[0], (int)vertices2.size());
b2Body* body2 = world.CreateBody(&myBodyDef);
body2->CreateFixture(&myFixtureDef);
body2->SetLinearVelocity(affectedBodies[index]->GetLinearVelocity());
body2->SetAngularVelocity(affectedBodies[index]->GetAngularVelocity());
if(i < callback2.m_count - 1) to = callback2.m_points[i+1];
else to = from;
world.DestroyBody(affectedBodies[index]);
}
}
//m_debugDraw.DrawSegment(from, to, b2Color(0.8f, 0.8f, 0.8f));
}
void SpatialSplit::Split::split<false>(size_t threadIndex, size_t threadCount, LockStepTaskScheduler* scheduler, PrimRefBlockAlloc<PrimRef>& alloc,
Scene* scene, TriRefList& prims,
TriRefList& lprims_o, PrimInfo& linfo_o,
TriRefList& rprims_o, PrimInfo& rinfo_o) const
{
assert(valid());
TriRefList::item* lblock = lprims_o.insert(alloc.malloc(threadIndex));
TriRefList::item* rblock = rprims_o.insert(alloc.malloc(threadIndex));
linfo_o.reset();
rinfo_o.reset();
/* sort each primitive to left, right, or left and right */
while (atomic_set<PrimRefBlock>::item* block = prims.take())
{
for (size_t i=0; i<block->size(); i++)
{
const PrimRef& prim = block->at(i);
const BBox3fa bounds = prim.bounds();
const int bin0 = mapping.bin(bounds.lower)[dim];
const int bin1 = mapping.bin(bounds.upper)[dim];
/* sort to the left side */
if (bin1 < pos)
{
linfo_o.add(bounds,center2(bounds));
if (likely(lblock->insert(prim))) continue;
lblock = lprims_o.insert(alloc.malloc(threadIndex));
lblock->insert(prim);
continue;
}
/* sort to the right side */
if (bin0 >= pos)
{
rinfo_o.add(bounds,center2(bounds));
if (likely(rblock->insert(prim))) continue;
rblock = rprims_o.insert(alloc.malloc(threadIndex));
rblock->insert(prim);
continue;
}
/* split and sort to left and right */
TriangleMesh* mesh = (TriangleMesh*) scene->get(prim.geomID());
TriangleMesh::Triangle tri = mesh->triangle(prim.primID());
const Vec3fa v0 = mesh->vertex(tri.v[0]);
const Vec3fa v1 = mesh->vertex(tri.v[1]);
const Vec3fa v2 = mesh->vertex(tri.v[2]);
PrimRef left,right;
float fpos = mapping.pos(pos,dim);
splitTriangle(prim,dim,fpos,v0,v1,v2,left,right);
if (!left.bounds().empty()) {
linfo_o.add(left.bounds(),center2(left.bounds()));
if (!lblock->insert(left)) {
lblock = lprims_o.insert(alloc.malloc(threadIndex));
lblock->insert(left);
}
}
if (!right.bounds().empty()) {
rinfo_o.add(right.bounds(),center2(right.bounds()));
if (!rblock->insert(right)) {
rblock = rprims_o.insert(alloc.malloc(threadIndex));
rblock->insert(right);
}
}
}
alloc.free(threadIndex,block);
}
}
void DrawMatches(
cv::Mat& image_out,
const cv::Mat image1,
const cv::Mat image2,
const cv::Mat points1,
const cv::Mat points2,
const cv::Scalar& color,
bool draw_image_borders,
const cv::Scalar& point_color)
{
cv::Size size(image1.cols + image2.cols, std::max(image1.rows, image2.rows));
image_out.create(size, CV_MAKETYPE(image1.depth(), 3));
cv::Mat draw_image1 = image_out(cv::Rect(0, 0, image1.cols, image1.rows));
cv::Mat draw_image2 = image_out(cv::Rect(image1.cols, 0, image2.cols, image2.rows));
if (image1.type() == CV_8U)
{
cvtColor(image1, draw_image1, CV_GRAY2BGR);
}
else
{
image1.copyTo(draw_image1);
}
if (image2.type() == CV_8U)
{
cvtColor(image2, draw_image2, CV_GRAY2BGR);
}
else
{
image2.copyTo(draw_image2);
}
if (draw_image_borders)
{
cv::rectangle(draw_image1,
cv::Point(0, 0),
cv::Point(image1.cols, image1.rows),
cv::Scalar(0, 0, 0),
2);
cv::rectangle(draw_image2,
cv::Point(0, 0),
cv::Point(image2.cols, image2.rows),
cv::Scalar(0, 0, 0),
2);
}
cv::RNG rng = cv::theRNG();
bool rand_color = color == cv::Scalar::all(-1);
bool has_point_color = point_color != cv::Scalar::all(-1);
for (int i = 0; i < points1.rows; i++)
{
cv::Scalar match_color = rand_color ? cv::Scalar(rng(256), rng(256), rng(256)) : color;
cv::Scalar match_color2 = has_point_color ? point_color : match_color;
cv::Point2f center1(
cvRound(points1.at<cv::Vec2f>(0, i)[0] * 16.0),
cvRound(points1.at<cv::Vec2f>(0, i)[1] * 16.0));
cv::Point2f center2(
cvRound(points2.at<cv::Vec2f>(0, i)[0] * 16.0),
cvRound(points2.at<cv::Vec2f>(0, i)[1] * 16.0));
cv::Point2f dcenter2(
std::min(center2.x + draw_image1.cols * 16.0, (image_out.cols - 1) * 16.0),
center2.y);
circle(draw_image1, center1, 48, match_color2, 1, CV_AA, 4);
circle(draw_image2, center2, 48, match_color2, 1, CV_AA, 4);
line(image_out, center1, dcenter2, match_color, 1, CV_AA, 4);
}
}
// here we will redraw the scene according to the current state of the application.
void AppWindow::glutDisplay ()
{
// Clear the rendering window
glClear ( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
// Build a cross with some lines (if not built yet):
if ( _axis.changed ) // needs update
{ _axis.build(1.0f); // axis has radius 1.0
}
if (sunanim) {
sunx = 2 * (cos(2 * M_PI*sunxc / 360) + sin(2 * M_PI*sunxc / 360)); suny = 20.0f; sunz = 2 * (-sin(2 * M_PI*sunxz / 360) + cos(2 * M_PI*sunxz / 360));
}
else {
sunx = 0.0; suny = 1; sunz = -.5;
}
// Define our scene transformation:
GsMat rx, ry, stransf, barrelroll, leftright, transf, updown, rightwing, leftwing, offsety, centerrwing, centerlwing, rl, rr, backR, backL, centerbackl, centerbackr, br, bl;
GsMat rfrot, lfrot, rbrot, lbrot, rollyawpitch, ShadowT;
rx.rotx ( _rotx );
ry.roty ( _roty );
stransf = rx*ry; // set the scene transformation matrix
offsety.translation(GsVec(0.0f, -5.7f, 0.0f));
//Rotate many degrees
barrelroll.rotz(2 * M_PI * rotate / 360);
leftright.roty(2 * M_PI * _turnlr / 360);
updown.rotx(2 * M_PI * _turnud / 360);
rollyawpitch = leftright*updown*barrelroll;
//Translate front wings to center
centerrwing.translation(GsVec(-0.1f,-0.15f,0.0f)); centerlwing.translation(GsVec(0.1f, -0.15f, 0.0f));
//Translate front wings back to airplane
rr.translation(GsVec(0.1f, 0.15f, 0.0f)); rl.translation(GsVec(-0.1f, 0.15f, 0.0f));
//Translate back wings to center
centerbackl.translation(GsVec(-0.05f, -0.2f, 0.0f)); centerbackr.translation(GsVec(0.05f, -0.2f, 0.0f));
//Translate back wings to airplane
bl.translation(GsVec(0.05f, 0.2f, 0.0f)); br.translation(GsVec(-0.05f, 0.2f, 0.0f));
//Rotate front wings
rightwing.rotz(2 * M_PI * _wingsflyR / 360); leftwing.rotz(2 * M_PI * -_wingsflyL / 360);
//Rotate back wings
backR.rotz(2 * M_PI * _backR / 360); backL.rotz(2 * M_PI * -_backL / 360);
//Clean up draw function
rfrot = rr*rightwing*centerrwing;
lfrot = rl*leftwing*centerlwing;
rbrot = br*backR*centerbackr;
lbrot = bl*backL*centerbackl;
//speed is fast
GsVec P = GsVec(0.0f, 0.0f, speed);
GsVec bd = leftright*updown*barrelroll*P;
R = R + bd;
transf.setrans(R);
GsVec sbd = leftright*P;
SR = SR + sbd;
ShadowT.setrans(SR);
// Define our projection transformation:
// (see demo program in gltutors-projection.7z, we are replicating the same behavior here)
GsMat camview, camview2, _birdseye, persp, sproj;
GsVec eye(0,0,0), center(0,0,0), up(0,1,0);
GsVec eye2(0, 10, 0), center2(0, 0, 0), up2(0, 0, 1);
eye += R + leftright*updown*barrelroll*GsVec(0,0,2);
center += R + GsVec(0, 0, 0);
_sun.build(1.0f, sunx, suny, sunz);
float ground[4] = { 0, 1, 0, 4.99 };
float light[4] = { sunx, suny, sunz, 0 };
float dot;
GsMat shadowMat;
dot = ground[0] * light[0] +
ground[1] * light[1] +
ground[2] * light[2] +
ground[3] * light[3];
shadowMat.setl1(dot - light[0] * ground[0], 0.0 - light[0] * ground[1], 0.0 - light[0] * ground[2], 0.0 - light[0] * ground[3]);
shadowMat.setl2(0.0 - light[1] * ground[0], dot - light[1] * ground[1], 0.0 - light[1] * ground[2], 0.0 - light[1] * ground[3]);
shadowMat.setl3(0.0 - light[2] * ground[0], 0.0 - light[2] * ground[1], dot - light[2] * ground[2], 0.0 - light[2] * ground[3]);
shadowMat.setl4(0.0 - light[3] * ground[0], 0.0 - light[3] * ground[1], 0.0 - light[3] * ground[2], dot - light[3] * ground[3]);
//shadowMat = shadowMat*ry*rx;
camview.lookat ( eye, center, up ); // set our 4x4 "camera" matrix
camview2.lookat(eye2, center2, up2);
float aspect=1.0f, znear=0.1f, zfar=5000.0f;
persp.perspective ( _fovy, aspect, znear, zfar ); // set our 4x4 perspective matrix
// Our matrices are in "line-major" format, so vertices should be multiplied on the
// right side of a matrix multiplication, therefore in the expression below camview will
// affect the vertex before persp, because v' = (persp*camview)*v = (persp)*(camview*v).
if (camera) {
sproj = persp * camview; // set final scene projection
}
else {
sproj = persp * camview2;
}
// Note however that when the shader receives a matrix it will store it in column-major
// format, what will cause our values to be transposed, and we will then have in our
// shaders vectors on the left side of a multiplication to a matrix.
float col = 1;
// Draw:
//if ( _viewaxis ) _axis.draw ( stransf, sproj );
_model.draw(stransf*transf*rollyawpitch, sproj, _light, 0);
_model2.draw(stransf*transf*rollyawpitch*rfrot, sproj, _light, 0);
_model3.draw(stransf*transf*rollyawpitch*lfrot, sproj, _light, 0);
_model4.draw(stransf*transf*rollyawpitch, sproj, _light, 0);
_model5.draw(stransf*transf*rollyawpitch*rbrot, sproj, _light, 0);
_model6.draw(stransf*transf*rollyawpitch*lbrot, sproj, _light, 0);
_floor.draw(stransf, sproj, _light, textures);
_city.draw(stransf*offsety, sproj, _light, 0);
_city.draw(stransf*shadowMat*offsety, sproj, _shadow, 0);
//Shadow
_model.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1);
_model2.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1);
_model3.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1);
_model4.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1);
_model5.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1);
_model6.draw(stransf*ShadowT*shadowMat*rollyawpitch, sproj, _shadow, 1);
_side.draw(stransf, sproj, _light, col, textures);
_sun.draw(stransf, sproj);
// Swap buffers and draw:
glFlush(); // flush the pipeline (usually not necessary)
glutSwapBuffers(); // we were drawing to the back buffer, now bring it to the front
}
void Colisionable::FixColision(sf::Vector2f pos1, sf::Vector2f size1, sf::Vector2f pos2, sf::Vector2f size2){
Map* map = Scene::getScene()->getMap();
//std::cout << "1x " << pos1.x << " 1y "<< pos1.y << " 2x" << pos2.x << " 2y " << pos2.y << std::endl;
sf::Vector2f center1((pos1.x*2 + size1.x)/2, (pos1.y*2 + size1.y)/2);
sf::Vector2f center2((pos2.x*2 + size2.x)/2, (pos2.y*2 + size2.y)/2);
//std::cout << "cx " << center1.x << " cy "<< center1.y << " c2x" << center2.x << " c2y " << center2.y << std::endl;
float top1 = pos1.y;
float bottom1 = pos1.y+size1.y;
float left1 = pos1.x;
float right1 = pos1.x+ size1.x;
float top2 = pos2.y;
float bottom2 = pos2.y+size2.y;
float left2 = pos2.x;
float right2 = pos2.x+ size2.x;
//primer quadrant
if(center1.x > center2.x && center1.y <= center2.y){
//std::cout << "primer quadrant " << std::endl;
float dist_left = right2-left1;
float dist_bottom = bottom1 - top2;
//std::cout << right2 << " "<< left1 << " " << dist_bottom << " " << dist_left << std::endl;
//std::cout << "top " << size2.x << " bottom "<< bottom2 << " left" << left2 << " right " << right2 << std::endl;
if(dist_left <= dist_bottom){
//Chunk* c = map->getChunk(center2.x + Settings::TILE_SIZE, center2.y);
Tile* t = map->getTile(center2.x + Settings::TILE_SIZE, center2.y, 1);
if(t->id !="0"){
//Chunk* c2 = map->getChunk(center2.x, center2.y - Settings::TILE_SIZE);
Tile* t2 = map->getTile(center2.x, center2.y - Settings::TILE_SIZE, 1);
if(t2 == nullptr || t2->id !="0"){
if(col_left_dist < dist_left) col_left_dist = dist_left;
if(col_bottom_dist < dist_bottom) col_bottom_dist = dist_bottom;
++col_bottom;
++col_left;
}
else{
if(col_bottom_dist < dist_bottom) col_bottom_dist = dist_bottom;
++col_bottom;
}
}else{
if(col_left_dist < dist_left) col_left_dist = dist_left;
++col_left;
}
}
else {
//Chunk* c = map->getChunk(center2.x, center2.y - Settings::TILE_SIZE);
Tile* t = map->getTile(center2.x, center2.y - Settings::TILE_SIZE, 1);
if(t->id !="0"){
//Chunk* c2 = map->getChunk(center2.x + Settings::TILE_SIZE, center2.y);
Tile* t2 = map->getTile(center2.x + Settings::TILE_SIZE, center2.y, 1);
if(t2 == nullptr || t2->id !="0"){
if(col_left_dist < dist_left) col_left_dist = dist_left;
if(col_bottom_dist < dist_bottom) col_bottom_dist = dist_bottom;
++col_left;
++col_bottom;
}
else{
if(col_left_dist < dist_left) col_left_dist = dist_left;
++col_left;
}
}
else{
if(col_bottom_dist < dist_bottom) col_bottom_dist = dist_bottom;
++col_bottom;
}
}
}
//segon quadrant
else if(center1.x <= center2.x && center1.y < center2.y){
//std::cout << "segon quadrant " << std::endl;
float dist_right = right1 - left2;
float dist_bottom = bottom1 - top2;
if(dist_right <= dist_bottom){
//Chunk* c = map->getChunk(center2.x - Settings::TILE_SIZE, center2.y);
Tile* t = map->getTile(center2.x - Settings::TILE_SIZE, center2.y, 1);
if(t->id !="0"){
//Chunk* c2 = map->getChunk(center2.x, center2.y - Settings::TILE_SIZE);
Tile* t2 = map->getTile(center2.x, center2.y - Settings::TILE_SIZE, 1);
if(t2 == nullptr || t2->id !="0"){
if(col_right_dist < dist_right) col_right_dist = dist_right;
if(col_bottom_dist < dist_bottom) col_bottom_dist = dist_bottom;
++col_bottom;
++col_right;
}
else{
if(col_bottom_dist < dist_bottom) col_bottom_dist = dist_bottom;
++col_bottom;
}
}
else{
if(col_right_dist < dist_right) col_right_dist = dist_right;
++col_right;
}
}
else {
//Chunk* c = map->getChunk(center2.x, center2.y - Settings::TILE_SIZE);
Tile* t = map->getTile(center2.x, center2.y - Settings::TILE_SIZE, 1);
if(t->id !="0"){
//Chunk* c2 = map->getChunk(center2.x - Settings::TILE_SIZE, center2.y);
Tile* t2 = map->getTile(center2.x - Settings::TILE_SIZE, center2.y, 1);
if(t2 == nullptr || t2->id !="0"){
if(col_right_dist < dist_right) col_right_dist = dist_right;
if(col_bottom_dist < dist_bottom) col_bottom_dist = dist_bottom;
++col_right;
++col_bottom;
}
else{
if(col_right_dist < dist_right) col_right_dist = dist_right;
++col_right;
}
}
else{
if(col_bottom_dist < dist_bottom) col_bottom_dist = dist_bottom;
++col_bottom;
}
}
}
//tercer quadrant
else if(center1.x < center2.x && center1.y >= center2.y){
//std::cout << "tercer quadrant " << std::endl;
float dist_right = right1 - left2;
float dist_top = bottom2 - top1;
if(dist_right <= dist_top){
//Chunk* c = map->getChunk(center2.x - Settings::TILE_SIZE, center2.y);
Tile* t = map->getTile(center2.x - Settings::TILE_SIZE, center2.y, 1);
if(t->id !="0"){
//Chunk* c2 = map->getChunk(center2.x, center2.y + Settings::TILE_SIZE);
Tile* t2 = map->getTile(center2.x, center2.y + Settings::TILE_SIZE, 1);
if(t2 == nullptr || t2->id !="0"){
if(col_right_dist < dist_right) col_right_dist = dist_right;
if(col_top_dist < dist_top) col_top_dist = dist_top;
++col_top;
++col_right;
}
else{
if(col_top_dist < dist_top) col_top_dist = dist_top;
++col_top;
}
}
else{
if(col_right_dist < dist_right) col_right_dist = dist_right;
++col_right;
}
}
else {
//Chunk* c = map->getChunk(center2.x, center2.y + Settings::TILE_SIZE);
Tile* t = map->getTile(center2.x, center2.y + Settings::TILE_SIZE, 1);
if(t->id !="0"){
//Chunk* c2 = map->getChunk(center2.x - Settings::TILE_SIZE, center2.y);
Tile* t2 = map->getTile(center2.x - Settings::TILE_SIZE, center2.y, 1);
if(t2 == nullptr || t2->id !="0"){
if(col_right_dist < dist_right) col_right_dist = dist_right;
if(col_top_dist < dist_top) col_top_dist = dist_top;
++col_right;
++col_top;
}
else{
if(col_right_dist < dist_right) col_right_dist = dist_right;
++col_right;
}
}
else{
if(col_top_dist < dist_top) col_top_dist = dist_top;
++col_top;
}
}
}
//quart quadrant
else if(center1.x >= center2.x && center1.y > center2.y){
//std::cout << "quart quadrant " << std::endl;
float dist_left = right2-left1;
float dist_top = bottom2 - top1;
if(dist_left <= dist_top){
//Chunk* c = map->getChunk(center2.x + Settings::TILE_SIZE, center2.y);
Tile* t = map->getTile(center2.x + Settings::TILE_SIZE, center2.y, 1);
if(t->id !="0"){
//Chunk* c2 = map->getChunk(center2.x, center2.y + Settings::TILE_SIZE);
Tile* t2 = map->getTile(center2.x, center2.y + Settings::TILE_SIZE, 1);
if(t2 == nullptr || t2->id !="0"){
if(col_left_dist < dist_left) col_left_dist = dist_left;
if(col_top_dist < dist_top) col_top_dist = dist_top;
++col_top;
++col_left;
}
else{
if(col_top_dist < dist_top) col_top_dist = dist_top;
++col_top;
}
}else{
if(col_left_dist < dist_left) col_left_dist = dist_left;
++col_left;
}
}
else {
//Chunk* c = map->getChunk(center2.x, center2.y + Settings::TILE_SIZE);
Tile* t = map->getTile(center2.x, center2.y + Settings::TILE_SIZE, 1);
if(t->id !="0"){
//Chunk* c2 = map->getChunk(center2.x + Settings::TILE_SIZE, center2.y);
Tile* t2 = map->getTile(center2.x + Settings::TILE_SIZE, center2.y, 1);
if(t2 == nullptr || t2->id !="0"){
if(col_left_dist < dist_left) col_left_dist = dist_left;
if(col_top_dist < dist_top) col_top_dist = dist_top;
++col_left;
++col_top;
}
else{
if(col_left_dist < dist_left) col_left_dist = dist_left;
++col_left;
}
}else{
if(col_top_dist < dist_top) col_top_dist = dist_top;
++col_top;
}
}
}
}
/*
void testEmptyString( TestReporter& reporter ) {
NEW_TEST_FUNCTION( reporter );
PangoTextInterface textInterface;
STRING str = "";
MC2Point center( 0, 0 );
isab::Rectangle rect =
textInterface.getStringAsRectangle( str, center, 0, 0, 0.0f );
CHECK( rect.getHeight() == 0, reporter );
CHECK( rect.getWidth() == 0, reporter );
CHECK( rect.getX() == center.getX(), reporter );
CHECK( rect.getY() == center.getY(), reporter );
std::vector<isab::Rectangle> boxes;
int res = textInterface.getStringAsRectangles( boxes, str, center, 0, 0, 0.0f );
CHECK( res == 0, reporter );
MC2Point center2( -5, -5 );
isab::Rectangle rect2 =
textInterface.getStringAsRectangle( str, center2, 0, 0, 0.0f);
CHECK( rect2.getHeight() == 0, reporter );
CHECK( rect2.getWidth() == 0, reporter );
CHECK( rect2.getX() == center2.getX(), reporter );
CHECK( rect2.getY() == center2.getY(), reporter );
}
*/
void testSingleChar( TestReporter& reporter ) {
NEW_TEST_FUNCTION( reporter );
PangoTextInterface textInterface;
STRING str = "A";
/**
* -- getStringAsRectangle
* Check so that the position is smaller than the center coordinate
* and the position + size is larger than the center coordinate.
*
*/
MC2Point center( 0, 0 );
isab::Rectangle rect =
textInterface.getStringAsRectangle( str, center, 0, 1, 0.0f );
CHECK( rect.getX() < center.getX(), reporter );
CHECK( ( rect.getX() + static_cast<int>( rect.getWidth() ) )
> center.getX(), reporter );
CHECK( rect.getY() < center.getY(), reporter );
CHECK( ( rect.getY() + static_cast<int>( rect.getHeight() ) )
> center.getY(), reporter );
/**
* -- getStringAsRectangle
* The same check as before, but with another center coordinate.
*
*/
MC2Point center2( -5, -5 );
isab::Rectangle rect2 =
textInterface.getStringAsRectangle( str, center2, 0, 1, 0.0f);
CHECK( rect2.getX() < center2.getX(), reporter );
CHECK( ( rect2.getX() + static_cast<int>( rect2.getWidth() ) )
> center2.getX(), reporter );
CHECK( rect2.getY() < center2.getY(), reporter );
CHECK( ( rect2.getY() + static_cast<int>( rect2.getHeight() ) )
> center2.getY(), reporter );
/**
* --getStringAsRectangles
* Check so that only one rectangle is returned, and that
* the position of this rectangle is smaller than the center
* coordinate supplied, and that the position + size is larger
* than the center coordinate supplied.
*
*/
std::vector<isab::Rectangle> boxes;
int res = textInterface.getStringAsRectangles( boxes, str,
center, 0, 1,
0.0f );
CHECK( res == 1, reporter );
CHECK( boxes.size() == 1, reporter );
isab::Rectangle rect3 = boxes.at( 0 );
CHECK( rect3.getX() < center.getX(), reporter );
CHECK( ( rect3.getX() + static_cast<int>( rect3.getWidth() ) )
> center.getX(), reporter );
CHECK( rect3.getY() < center.getY(), reporter );
CHECK( ( rect3.getY() + static_cast<int>( rect3.getHeight() ) )
> center.getY(), reporter );
/**
* --getStringAsRectangles
* Same check as above, but with another center coordinate.
*
*/
std::vector<isab::Rectangle> boxes2;
int res2 = textInterface.getStringAsRectangles( boxes2, str,
center2, 0, 1,
0.0f );
CHECK( res2 == static_cast<int>( strlen( str ) ), reporter );
CHECK( boxes2.size() == 1, reporter );
isab::Rectangle rect4 = boxes2.at( 0 );
CHECK( rect4.getX() < center2.getX(), reporter );
CHECK( ( rect4.getX() + static_cast<int>( rect4.getWidth() ) )
> center2.getX(), reporter );
CHECK( rect4.getY() < center2.getY(), reporter );
CHECK( ( rect4.getY() + static_cast<int>( rect4.getHeight() ) )
> center2.getY(), reporter );
}
