void GameStateManager::deserializePlayer(int32_t eid)
{
PlayerState & player = *m_states[eid];
const std::string name = m_connection_manager.getNickname(eid);
const std::string nickhash = sha1::calcToString(name.data(), name.length());
std::copy(nickhash.begin(), nickhash.end(), player.nickhash.begin());
if (PROGRAM_OPTIONS.count("verbose"))
{
std::cout << "Player nickname is \"" << name << "\", hash: 0x" << hexify(nickhash)
<< ". Attempting to load player data from disk...";
}
std::ifstream playerfile("/tmp/mymap.player." + nickhash, std::ios::binary);
if (!playerfile)
{
if (PROGRAM_OPTIONS.count("verbose"))
{
std::cout << " failed. Setting default start data." << std::endl;
}
const WorldCoords start_pos(8, 80, 8);
player.position = RealCoords(wX(start_pos) + 0.5, wY(start_pos) + 0.5, wZ(start_pos) + 0.5);
player.stance = wY(start_pos) + 0.5;
player.setInv(37, ITEM_DiamondPickaxe, 1, 0);
player.setInv(36, BLOCK_Torch, 50, 0);
player.setInv(29, ITEM_Coal, 50, 0);
player.setInv(21, BLOCK_Cobblestone, 60, 0);
player.setInv(22, BLOCK_IronOre, 60, 0);
player.setInv(30, BLOCK_Wood, 50, 0);
player.setInv(38, ITEM_DiamondShovel, 1, 0);
player.setInv(39, BLOCK_BrickBlock, 64, 0);
player.setInv(40, BLOCK_Stone, 64, 0);
player.setInv(41, BLOCK_Glass, 64, 0);
player.setInv(42, BLOCK_WoodenPlank, 64, 0);
player.setInv(44, BLOCK_Obsidian, 64, 0);
player.setInv(43, ITEM_Bucket, 1, 0);
player.holding = 4;
}
else
{
if (PROGRAM_OPTIONS.count("verbose"))
{
std::cout << " done!" << std::endl;
}
const WorldCoords start_pos(8, 80, 8);
player.position = RealCoords(wX(start_pos) + 0.5, wY(start_pos) + 0.5, wZ(start_pos) + 0.5);
player.stance = wY(start_pos) + 0.5;
}
}
void Manifold::SetContactData(const glm::vec3& c, const glm::vec3& n, const float p)
{
contact = c;
normal = n;
// calculate the basis matrix for this contact
glm::vec3 cX, cY, cZ;
glm::vec3 wY(0, 1, 0);
glm::vec3 wX(1, 0, 0);
glm::mat3 contactBasis;
cX = normal;
if (glm::dot(normal, wY) > 0.01f)
{
cZ = glm::cross(cX, wY);
}
else
{
cZ = glm::cross(cX, wX);
}
cY = glm::cross(cZ, cX);
contactBasis[0] = cX;
contactBasis[1] = cY;
contactBasis[2] = cZ;
}
//! [Main function]
int main()
//! [Main function]
{
//! [Create data structures]
int npoints = 4;
std::vector< vpColVector > x1(npoints);
std::vector< vpColVector > x2(npoints);
std::vector< vpColVector > wX(npoints); // 3D points in the world plane
std::vector< vpColVector > c1X(npoints); // 3D points in the camera frame 1
std::vector< vpColVector > c2X(npoints); // 3D points in the camera frame 2
for (int i = 0; i < npoints; i++) {
x1[i].resize(3);
x2[i].resize(3);
wX[i].resize(4);
c1X[i].resize(4);
c2X[i].resize(4);
}
//! [Create data structures]
//! [Simulation]
// Ground truth pose used to generate the data
vpHomogeneousMatrix c1Tw_truth(-0.1, 0.1, 1.2, vpMath::rad(5), vpMath::rad(0), vpMath::rad(45));
vpHomogeneousMatrix c2Tc1(0.01, 0.01, 0.2, vpMath::rad(0), vpMath::rad(3), vpMath::rad(5));
// Input data: 3D coordinates of at least 4 coplanar points
double L = 0.2;
wX[0][0] = -L; wX[0][1] = -L; wX[0][2] = 0; wX[0][3] = 1; // wX_0 ( -L, -L, 0, 1)^T
wX[1][0] = 2*L; wX[1][1] = -L; wX[1][2] = 0; wX[1][3] = 1; // wX_1 (-2L, -L, 0, 1)^T
wX[2][0] = L; wX[2][1] = L; wX[2][2] = 0; wX[2][3] = 1; // wX_2 ( L, L, 0, 1)^T
wX[3][0] = -L; wX[3][1] = L; wX[3][2] = 0; wX[3][3] = 1; // wX_3 ( -L, L, 0, 1)^T
// Input data: 2D coordinates of the points on the image plane
for(int i = 0; i < npoints; i++) {
c1X[i] = c1Tw_truth * wX[i]; // Update c1X, c1Y, c1Z
x1[i][0] = c1X[i][0] / c1X[i][2]; // x1 = c1X/c1Z
x1[i][1] = c1X[i][1] / c1X[i][2]; // y1 = c1Y/c1Z
x1[i][2] = 1;
c2X[i] = c2Tc1 * c1Tw_truth * wX[i]; // Update cX, cY, cZ
x2[i][0] = c2X[i][0] / c2X[i][2]; // x2 = c1X/c1Z
x2[i][1] = c2X[i][1] / c2X[i][2]; // y2 = c1Y/c1Z
x2[i][2] = 1;
}
//! [Simulation]
//! [Call function]
vpMatrix _2H1 = homography_dlt(x1, x2);
//! [Call function]
std::cout << "2H1 (computed with DLT):\n" << _2H1 << std::endl;
return 0;
}
Embedding MNF(const Matrix &data, const Matrix &noise_covariance, Index reduced_dimensions) {
if (noise_covariance.cols() != noise_covariance.rows() || noise_covariance.rows() != data.cols()) {
throw std::invalid_argument("The rows and columns of noise covariance should both equal to the columns of the data.");
}
if (reduced_dimensions == 0) reduced_dimensions = data.cols();
if (reduced_dimensions > data.cols()) throw std::invalid_argument("Reduced dimensions should be less than or equal to the total dimensions.");
Matrix U1(noise_covariance);
Matrix V1(data.cols(), data.cols());
gsl_vector *S1v = gsl_vector_alloc(data.cols());
gsl_linalg_SV_decomp_jacobi(U1.m_, V1.m_, S1v);
Matrix wX(data.rows(), data.cols());
Matrix wXintermediate(data.cols(), data.cols());
Matrix invsqrtS1(data.cols(), data.cols());
for (Index i = 0; i < data.cols(); ++i) {
invsqrtS1(i, i) = 1.0 / sqrt(gsl_vector_get(S1v, i));
}
gsl_blas_dgemm(CblasNoTrans, CblasNoTrans, 1.0, U1.m_, invsqrtS1.m_, 0.0, wXintermediate.m_);
gsl_blas_dgemm(CblasNoTrans, CblasNoTrans, 1.0, data.m_, wXintermediate.m_, 0.0, wX.m_);
gsl_blas_dgemm(CblasTrans, CblasNoTrans, 1.0, wX.m_, wX.m_, 0.0, wXintermediate.m_);
Matrix V2(data.cols(), data.cols());
gsl_vector *S2v = gsl_vector_alloc(data.cols());
gsl_linalg_SV_decomp_jacobi(wXintermediate.m_, V2.m_, S2v);
Embedding result;
result.space = std::make_shared<gsl::Matrix>(data.rows(), reduced_dimensions);
result.vectors = std::make_shared<gsl::Matrix>(data.cols(), data.cols());
result.values = std::make_shared<gsl::Matrix>(1, data.cols());
Matrix intermediate2(data.cols(), data.cols());
gsl_blas_dgemm(CblasNoTrans, CblasNoTrans, 1.0, invsqrtS1.m_, V2.m_, 0.0, intermediate2.m_);
gsl_blas_dgemm(CblasNoTrans, CblasNoTrans, 1.0, U1.m_, intermediate2.m_, 0.0, result.vectors->m_);
gsl_matrix_const_view reduced_vectors = gsl_matrix_const_submatrix(result.vectors->m_, 0, 0, result.vectors->rows(), reduced_dimensions);
gsl_blas_dgemm(CblasNoTrans, CblasNoTrans, 1.0, data.m_, &reduced_vectors.matrix, 0.0, result.space->m_);
// TODO: assign eigenvalues and eigenvectors
gsl_vector_free(S1v);
gsl_vector_free(S2v);
return result;
}