void Scene::getGridStats(real &mean, real &stdDeviation,
real &variance, int &min, int &max,
real &meanCells, real &stdDeviationCells,
real &varianceCells,
int &minCells, int &maxCells) {
int total = 0;
int squareTotal = 0;
int maximum = std::numeric_limits<int>::min();
int minimum = std::numeric_limits<int>::max();
int count;
for (size_t x = 0; x < width; ++x) {
for (size_t y = 0; y < height ; ++y) {
for (size_t z = 0; z < depth ; ++z) {
count = theGrid[x][y][z]->getNumObjs();
squareTotal += count*count;
total += count;
minimum = std::min(minimum, count);
maximum = std::max(maximum, count);
}
}
}
mean = real(total)/getNumCells();
variance = real(squareTotal)/getNumCells()-mean*mean;
stdDeviation = std::sqrt(variance);
min = minimum;
max = maximum;
maximum = std::numeric_limits<int>::min();
minimum = std::numeric_limits<int>::max();
total = 0;
squareTotal = 0;
for (ObjectList::iterator iter = objects.begin();
iter != objects.end();
++iter) {
count = (*iter)->getNumCells();
total += count;
squareTotal += count*count;
minimum = std::min(minimum, count);
maximum = std::max(maximum, count);
}
meanCells = real(total)/objects.size();
minCells = minimum;
maxCells = maximum;
varianceCells = real(squareTotal)/objects.size()-mean*mean;
stdDeviationCells = std::sqrt(varianceCells);
}
void collision_detection::StaticDistanceField::initialize(
const bodies::Body& body,
double resolution,
double space_around_body,
bool save_points)
{
points_.clear();
inv_twice_resolution_ = 1.0 / (2.0 * resolution);
logInform(" create points at res=%f",resolution);
EigenSTL::vector_Vector3d points;
determineCollisionPoints(body, resolution, points);
if (points.empty())
{
logWarn(" StaticDistanceField::initialize: No points in body. Using origin.");
points.push_back(body.getPose().translation());
if (body.getType() == shapes::MESH)
{
const bodies::ConvexMesh& mesh = dynamic_cast<const bodies::ConvexMesh&>(body);
const EigenSTL::vector_Vector3d& verts = mesh.getVertices();
logWarn(" StaticDistanceField::initialize: also using %d vertices.", int(verts.size()));
EigenSTL::vector_Vector3d::const_iterator it = verts.begin();
EigenSTL::vector_Vector3d::const_iterator it_end = verts.end();
for ( ; it != it_end ; ++it)
{
points.push_back(*it);
}
}
}
logInform(" StaticDistanceField::initialize: Using %d points.", points.size());
AABB aabb;
aabb.add(points);
logInform(" space_around_body = %f",space_around_body);
logInform(" DF: min=(%7.3f %7.3f %7.3f) max=(%7.3f %7.3f %7.3f) (pre-space)",
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
aabb.max_.x(),
aabb.max_.y(),
aabb.max_.z());
aabb.min_ -= Eigen::Vector3d(space_around_body, space_around_body, space_around_body);
aabb.max_ += Eigen::Vector3d(space_around_body, space_around_body, space_around_body);
logInform(" DF: min=(%7.3f %7.3f %7.3f) max=(%7.3f %7.3f %7.3f) (pre-adjust)",
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
aabb.max_.x(),
aabb.max_.y(),
aabb.max_.z());
aabb.min_.x() = std::floor(aabb.min_.x() / resolution) * resolution;
aabb.min_.y() = std::floor(aabb.min_.y() / resolution) * resolution;
aabb.min_.z() = std::floor(aabb.min_.z() / resolution) * resolution;
logInform(" DF: min=(%7.3f %7.3f %7.3f) max=(%7.3f %7.3f %7.3f) (post-adjust)",
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
aabb.max_.x(),
aabb.max_.y(),
aabb.max_.z());
Eigen::Vector3d size = aabb.max_ - aabb.min_;
double diagonal = size.norm();
logInform(" DF: sz=(%7.3f %7.3f %7.3f) cnt=(%d %d %d) diag=%f",
size.x(),
size.y(),
size.z(),
int(size.x()/resolution),
int(size.y()/resolution),
int(size.z()/resolution),
diagonal);
distance_field::PropagationDistanceField df(
size.x(),
size.y(),
size.z(),
resolution,
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
diagonal * 2.0,
true);
df.addPointsToField(points);
DistPosEntry default_entry;
default_entry.distance_ = diagonal * 2.0;
default_entry.cell_id_ = -1;
resize(size.x(),
size.y(),
size.z(),
resolution,
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
default_entry);
logInform(" copy %d points.",
getNumCells(distance_field::DIM_X) *
getNumCells(distance_field::DIM_Y) *
getNumCells(distance_field::DIM_Z));
int pdf_x,pdf_y,pdf_z;
int sdf_x,sdf_y,sdf_z;
Eigen::Vector3d pdf_p, sdf_p;
df.worldToGrid(aabb.min_.x(), aabb.min_.y(), aabb.min_.z(), pdf_x,pdf_y,pdf_z);
worldToGrid(aabb.min_.x(), aabb.min_.y(), aabb.min_.z(), sdf_x,sdf_y,sdf_z);
df.gridToWorld(pdf_x,pdf_y,pdf_z, pdf_p.x(), pdf_p.y(), pdf_p.z());
gridToWorld(sdf_x,sdf_y,sdf_z, sdf_p.x(), sdf_p.y(), sdf_p.z());
logInform(" DF: min=(%10.6f %10.6f %10.6f) quant->%3d %3d %3d (pdf)",
aabb.min_.x(),
aabb.min_.y(),
aabb.min_.z(),
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: min=(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (pdf)",
pdf_p.x(),
pdf_p.y(),
pdf_p.z(),
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: min=(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (sdf)",
sdf_p.x(),
sdf_p.y(),
sdf_p.z(),
sdf_x,
sdf_y,
sdf_z);
df.worldToGrid(0,0,0, pdf_x,pdf_y,pdf_z);
worldToGrid(0,0,0, sdf_x,sdf_y,sdf_z);
df.gridToWorld(pdf_x,pdf_y,pdf_z, pdf_p.x(), pdf_p.y(), pdf_p.z());
gridToWorld(sdf_x,sdf_y,sdf_z, sdf_p.x(), sdf_p.y(), sdf_p.z());
logInform(" DF: org=(%10.6f %10.6f %10.6f) quant->%3d %3d %3d (pdf)",
0.0,
0.0,
0.0,
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: org=(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (pdf)",
pdf_p.x(),
pdf_p.y(),
pdf_p.z(),
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: org=(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (sdf)",
sdf_p.x(),
sdf_p.y(),
sdf_p.z(),
sdf_x,
sdf_y,
sdf_z);
df.worldToGrid(points[0].x(), points[0].y(), points[0].z(), pdf_x,pdf_y,pdf_z);
worldToGrid(points[0].x(), points[0].y(), points[0].z(), sdf_x,sdf_y,sdf_z);
df.gridToWorld(pdf_x,pdf_y,pdf_z, pdf_p.x(), pdf_p.y(), pdf_p.z());
gridToWorld(sdf_x,sdf_y,sdf_z, sdf_p.x(), sdf_p.y(), sdf_p.z());
logInform(" DF: p0 =(%10.6f %10.6f %10.6f) quant->%3d %3d %3d (pdf)",
points[0].x(),
points[0].y(),
points[0].z(),
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: p0 =(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (pdf)",
pdf_p.x(),
pdf_p.y(),
pdf_p.z(),
pdf_x,
pdf_y,
pdf_z);
logInform(" DF: p0 =(%10.6f %10.6f %10.6f) quant<-%3d %3d %3d (sdf)",
sdf_p.x(),
sdf_p.y(),
sdf_p.z(),
sdf_x,
sdf_y,
sdf_z);
for (int z = 0 ; z < df.getZNumCells() ; ++z)
{
for (int y = 0 ; y < df.getYNumCells() ; ++y)
{
for (int x = 0 ; x < df.getXNumCells() ; ++x)
{
DistPosEntry entry;
double dist = df.getDistance(x, y, z);
const distance_field::PropDistanceFieldVoxel& voxel = df.getCell(x,y,z);
if (dist < 0)
{
// propogation distance field has a bias of -1*resolution on points inside the object
if (dist <= -resolution)
{
dist += resolution;
}
else
{
logError("PropagationDistanceField returned distance=%f between 0 and -resolution=%f."
" Did someone fix it?"
" Need to remove workaround from static_distance_field.cpp",
dist,-resolution);
dist = 0.0;
}
entry.distance_ = dist;
entry.cell_id_ = getCellId(
voxel.closest_negative_point_.x(),
voxel.closest_negative_point_.y(),
voxel.closest_negative_point_.z());
}
else
{
entry.distance_ = dist;
entry.cell_id_ = getCellId(
voxel.closest_point_.x(),
voxel.closest_point_.y(),
voxel.closest_point_.z());
}
setCell(x, y, z, entry);
}
}
}
if (save_points)
std::swap(points, points_);
}
