// `自适应Simpson公式（递归过程）。已知整个区间[a,b]上的三点simpson值A`
double asr(double a, double b, double eps, double A) {
double c = a + (b-a)/2;
double L = simpson(a, c), R = simpson(c, b);
if(fabs(L+R-A) <= 15*eps)
return L+R+(L+R-A)/15.0;
return asr(a, c, eps/2, L) + asr(c, b, eps/2, R);
}
double asr(double l, double r, double eps, double area)
{
double m = l + (r - l) / 2;
double la = simpson(l, m), ra = simpson(m, r);
if(fabs(la + ra - area) <= 15 * eps)
return la + ra + (la + ra - area) / 15;
return asr(l, m, eps / 2, la) + asr(m, r, eps / 2, ra);
}
int main()
{
while(scanf("%lf%lf%lf%d", &W, &D, &A, &K) == 4)
{
for(int i = 0; i <= K; ++i)
scanf("%lf", &p[i][0]);
for(int i = 0; i <= K; ++i)
scanf("%lf", &p[i][1]);
for(int i = 0; i <= K; ++i)
scanf("%lf", &q[i][0]);
for(int i = 0; i <= K; ++i)
scanf("%lf", &q[i][1]);
L = -D, R = 0;
while(R - L >= 1e-8)
{
M = L + (R - L) / 2;
if(asr(0, W, 1e-5, simpson(0, W)) < A)
R = M;
else
L = M;
}
printf("%.5f\n", -L);
}
return 0;
}
bool GrDrawTarget::onCopySurface(GrSurface* dst,
GrSurface* src,
const SkIRect& srcRect,
const SkIPoint& dstPoint) {
if (!GrDrawTarget::onCanCopySurface(dst, src, srcRect, dstPoint)) {
return false;
}
GrRenderTarget* rt = dst->asRenderTarget();
GrTexture* tex = src->asTexture();
GrDrawTarget::AutoStateRestore asr(this, kReset_ASRInit);
this->drawState()->setRenderTarget(rt);
SkMatrix matrix;
matrix.setTranslate(SkIntToScalar(srcRect.fLeft - dstPoint.fX),
SkIntToScalar(srcRect.fTop - dstPoint.fY));
matrix.postIDiv(tex->width(), tex->height());
this->drawState()->addColorTextureEffect(tex, matrix);
SkIRect dstRect = SkIRect::MakeXYWH(dstPoint.fX,
dstPoint.fY,
srcRect.width(),
srcRect.height());
this->drawSimpleRect(dstRect);
return true;
}
int main() {
while (~scanf("%d", &n) && n) {
for (int i = n; i >= 0; i--)
scanf("%lf", &a[i]);
for (int i = 0; i < n; i++)
a[i] = a[i + 1] * i;
scanf("%lf%lf", &s, &e);
printf("%.3lf\n", asr(s, e, eps, simpon(s, e)) / (e - s));
}
return 0;
}
const char* GrGLFragmentShaderBuilder::fragmentPosition() {
fHasReadFragmentPosition = true;
GrGLGpu* gpu = fProgramBuilder->gpu();
// We only declare "gl_FragCoord" when we're in the case where we want to use layout qualifiers
// to reverse y. Otherwise it isn't necessary and whether the "in" qualifier appears in the
// declaration varies in earlier GLSL specs. So it is simpler to omit it.
if (fTopLeftFragPosRead) {
fSetupFragPosition = true;
return "gl_FragCoord";
} else if (gpu->glCaps().fragCoordConventionsSupport()) {
if (!fSetupFragPosition) {
if (gpu->glslGeneration() < k150_GrGLSLGeneration) {
this->addFeature(1 << kFragCoordConventions_GLSLPrivateFeature,
"GL_ARB_fragment_coord_conventions");
}
fInputs.push_back().set(kVec4f_GrSLType,
GrGLShaderVar::kIn_TypeModifier,
"gl_FragCoord",
kDefault_GrSLPrecision,
GrGLShaderVar::kUpperLeft_Origin);
fSetupFragPosition = true;
}
return "gl_FragCoord";
} else {
static const char* kTempName = "tmpXYFragCoord";
static const char* kCoordName = "fragCoordYDown";
if (!fSetupFragPosition) {
// temporarily change the stage index because we're inserting non-stage code.
GrGLProgramBuilder::AutoStageRestore asr(fProgramBuilder);
SkASSERT(!fProgramBuilder->fUniformHandles.fRTHeightUni.isValid());
const char* rtHeightName;
fProgramBuilder->fUniformHandles.fRTHeightUni =
fProgramBuilder->addUniform(GrGLProgramBuilder::kFragment_Visibility,
kFloat_GrSLType,
kDefault_GrSLPrecision,
"RTHeight",
&rtHeightName);
// The Adreno compiler seems to be very touchy about access to "gl_FragCoord".
// Accessing glFragCoord.zw can cause a program to fail to link. Additionally,
// depending on the surrounding code, accessing .xy with a uniform involved can
// do the same thing. Copying gl_FragCoord.xy into a temp vec2 beforehand
// (and only accessing .xy) seems to "fix" things.
this->codePrependf("\tvec4 %s = vec4(%s.x, %s - %s.y, 1.0, 1.0);\n",
kCoordName, kTempName, rtHeightName, kTempName);
this->codePrependf("vec2 %s = gl_FragCoord.xy;", kTempName);
fSetupFragPosition = true;
}
SkASSERT(fProgramBuilder->fUniformHandles.fRTHeightUni.isValid());
return kCoordName;
}
}
void ARMCore::thumbDataLo(uint4 opcode, uint3 ird, uint3 irm) {
auto &rd = r[ird], rm = r[irm];
r[15] += 2;
if(opcode == 2) { SOut r = lsl(rd, rm); bitf(true, rd = r, r); } // lsls
else if(opcode == 3) { SOut r = lsr(rd, rm); bitf(true, rd = r, r); } // lsrs
else if(opcode == 4) { SOut r = asr(rd, rm); bitf(true, rd = r, r); } // asrs
else if(opcode == 7) { SOut r = ror(rd, rm); bitf(true, rd = r, r); } // rors
else if(opcode == 9) sumf(true, rd = -rm, 0, ~rm); // negs
else if(opcode == 13) bitf(true, rd = rm * rd, {rm*rd, Cf}); // muls
else alu(2*opcode+1, rd, rd, {rm,Cf}); // others are same as ARM
}
void GrGpu::onStencilPath(const GrPath* path, const SkStrokeRec&, SkPath::FillType fill) {
this->handleDirtyContext();
// TODO: make this more effecient (don't copy and copy back)
GrAutoTRestore<GrStencilSettings> asr(this->drawState()->stencil());
this->setStencilPathSettings(*path, fill, this->drawState()->stencil());
if (!this->setupClipAndFlushState(kStencilPath_DrawType)) {
return;
}
this->onGpuStencilPath(path, fill);
}
const char* GrGLFragmentShaderBuilder::fragmentPosition() {
fHasReadFragmentPosition = true;
GrGLGpu* gpu = fProgramBuilder->gpu();
// We only declare "gl_FragCoord" when we're in the case where we want to use layout qualifiers
// to reverse y. Otherwise it isn't necessary and whether the "in" qualifier appears in the
// declaration varies in earlier GLSL specs. So it is simpler to omit it.
if (fTopLeftFragPosRead) {
fSetupFragPosition = true;
return "gl_FragCoord";
} else if (gpu->glCaps().fragCoordConventionsSupport()) {
if (!fSetupFragPosition) {
if (gpu->glslGeneration() < k150_GrGLSLGeneration) {
this->addFeature(1 << kFragCoordConventions_GLSLPrivateFeature,
"GL_ARB_fragment_coord_conventions");
}
fInputs.push_back().set(kVec4f_GrSLType,
GrGLShaderVar::kIn_TypeModifier,
"gl_FragCoord",
kDefault_GrSLPrecision,
GrGLShaderVar::kUpperLeft_Origin);
fSetupFragPosition = true;
}
return "gl_FragCoord";
} else {
static const char* kCoordName = "fragCoordYDown";
if (!fSetupFragPosition) {
// temporarily change the stage index because we're inserting non-stage code.
GrGLProgramBuilder::AutoStageRestore asr(fProgramBuilder);
SkASSERT(!fProgramBuilder->fUniformHandles.fRTHeightUni.isValid());
const char* rtHeightName;
fProgramBuilder->fUniformHandles.fRTHeightUni =
fProgramBuilder->addUniform(GrGLProgramBuilder::kFragment_Visibility,
kFloat_GrSLType,
kDefault_GrSLPrecision,
"RTHeight",
&rtHeightName);
// Using glFragCoord.zw for the last two components tickles an Adreno driver bug that
// causes programs to fail to link. Making this function return a vec2() didn't fix the
// problem but using 1.0 for the last two components does.
this->codePrependf("\tvec4 %s = vec4(gl_FragCoord.x, %s - gl_FragCoord.y, 1.0, "
"1.0);\n", kCoordName, rtHeightName);
fSetupFragPosition = true;
}
SkASSERT(fProgramBuilder->fUniformHandles.fRTHeightUni.isValid());
return kCoordName;
}
}
void AutoAway::goIdle() {
idle = true;
AutoAwayStatus aas(idle, idle_time, this);
events_i->fire_event(aas);
if(current_settings.enable) {
QStringList protos = accounts_i->protocol_names();
foreach(QString proto_name, protos) {
QStringList account_ids = accounts_i->account_ids(proto_name);
foreach(QString account_id, account_ids) {
Account *acc = accounts_i->account_info(proto_name, account_id);
if(acc->status != ST_OFFLINE && acc->status != ST_INVISIBLE) {
if(current_settings.restore) saved_status[acc] = acc->status;
AccountStatusReq asr(acc, current_settings.status, this);
events_i->fire_event(asr);
}
}
nsresult
nsDOMWorkerScriptLoader::DoRunLoop(JSContext* aCx)
{
NS_ASSERTION(!NS_IsMainThread(), "Wrong thread!");
volatile PRBool done = PR_FALSE;
mDoneRunnable = new ScriptLoaderDone(this, &done);
NS_ENSURE_TRUE(mDoneRunnable, NS_ERROR_OUT_OF_MEMORY);
nsresult rv = NS_DispatchToMainThread(this);
NS_ENSURE_SUCCESS(rv, rv);
while (!(done || mCanceled)) {
JSAutoSuspendRequest asr(aCx);
NS_ProcessNextEvent(mTarget);
}
return mCanceled ? NS_ERROR_ABORT : NS_OK;
}
bool LuaWrapper::Initialize() {
m_luaState = luaL_newstate();
if (m_luaState == nullptr) {
return false;
}
G(m_luaState)->ud = &m_userData;
m_userData.m_luaWrapper = this;
luaL_openlibs(m_luaState);
{
StackAutoRecover asr(m_luaState);
lua_pushcclosure(m_luaState, luaU_ErrorFunction, 0);
m_userData.m_errroFunc = luaL_ref(m_luaState, LUA_REGISTRYINDEX);
}
return true;
}
bool GrDrawTarget::copySurface(GrSurface* dst,
GrSurface* src,
const SkIRect& srcRect,
const SkIPoint& dstPoint) {
SkASSERT(dst);
SkASSERT(src);
SkIRect clippedSrcRect;
SkIPoint clippedDstPoint;
// If the rect is outside the src or dst then we've already succeeded.
if (!clip_srcrect_and_dstpoint(dst,
src,
srcRect,
dstPoint,
&clippedSrcRect,
&clippedDstPoint)) {
SkASSERT(GrDrawTarget::canCopySurface(dst, src, srcRect, dstPoint));
return true;
}
if (!GrDrawTarget::canCopySurface(dst, src, clippedSrcRect, clippedDstPoint)) {
return false;
}
GrRenderTarget* rt = dst->asRenderTarget();
GrTexture* tex = src->asTexture();
GrDrawTarget::AutoStateRestore asr(this, kReset_ASRInit);
this->drawState()->setRenderTarget(rt);
SkMatrix matrix;
matrix.setTranslate(SkIntToScalar(clippedSrcRect.fLeft - clippedDstPoint.fX),
SkIntToScalar(clippedSrcRect.fTop - clippedDstPoint.fY));
matrix.postIDiv(tex->width(), tex->height());
this->drawState()->addColorTextureProcessor(tex, matrix);
SkIRect dstRect = SkIRect::MakeXYWH(clippedDstPoint.fX,
clippedDstPoint.fY,
clippedSrcRect.width(),
clippedSrcRect.height());
this->drawSimpleRect(dstRect);
return true;
}
void execALU(){
switch(controle_alu.op_code){
case 1: add(); break;
case 2: addinc(); break;
case 3: and(); break;
case 4: andnota(); break;
case 5: asl(); break;
case 6: asr(); break;
case 7: deca(); break;
case 8: inca(); break;
case 9: j(); break;
case 10: jal(); break;
case 11: jf(); break;
case 12: jr(); break;
case 13: jt(); break;
case 14: lch(); break;
case 15: lcl(); break;
case 16: load(); break;
case 17: loadlit(); break;
case 18: lsl(); break;
case 19: lsr(); break;
case 20: nand(); break;
case 21: nor(); break;
case 22: ones(); break;
case 23: or(); break;
case 24: ornotb(); break;
case 25: passa(); break;
case 26: passnota(); break;
case 27: store(); break;
case 28: sub(); break;
case 29: subdec(); break;
case 30: xnor(); break;
case 31: xor(); break;
case 32: zeros(); break;
}
}
void GrDrawTarget::clear(const SkIRect* rect, GrColor color, bool canIgnoreRect,
GrRenderTarget* renderTarget) {
if (fCaps->useDrawInsteadOfClear()) {
// This works around a driver bug with clear by drawing a rect instead.
// The driver will ignore a clear if it is the only thing rendered to a
// target before the target is read.
SkIRect rtRect = SkIRect::MakeWH(renderTarget->width(), renderTarget->height());
if (NULL == rect || canIgnoreRect || rect->contains(rtRect)) {
rect = &rtRect;
// We first issue a discard() since that may help tilers.
this->discard(renderTarget);
}
AutoStateRestore asr(this, kReset_ASRInit, &SkMatrix::I());
this->drawState()->setColor(color);
this->drawState()->disableState(GrDrawState::kClip_StateBit);
this->drawState()->disableState(GrDrawState::kHWAntialias_StateBit);
this->drawState()->setRenderTarget(renderTarget);
this->drawSimpleRect(*rect);
} else {
this->onClear(rect, color, canIgnoreRect, renderTarget);
}
}
bool GrGpu::setupClipAndFlushState(GrPrimitiveType type) {
const GrIRect* r = NULL;
GrIRect clipRect;
GrDrawState* drawState = this->drawState();
const GrRenderTarget* rt = drawState->getRenderTarget();
// GrDrawTarget should have filtered this for us
GrAssert(NULL != rt);
if (drawState->isClipState()) {
GrRect bounds;
GrRect rtRect;
rtRect.setLTRB(0, 0,
GrIntToScalar(rt->width()), GrIntToScalar(rt->height()));
if (fClip.hasConservativeBounds()) {
bounds = fClip.getConservativeBounds();
if (!bounds.intersect(rtRect)) {
bounds.setEmpty();
}
} else {
bounds = rtRect;
}
bounds.roundOut(&clipRect);
if (clipRect.isEmpty()) {
clipRect.setLTRB(0,0,0,0);
}
r = &clipRect;
// use the stencil clip if we can't represent the clip as a rectangle.
fClipInStencil = !fClip.isRect() && !fClip.isEmpty() &&
!bounds.isEmpty();
// TODO: dynamically attach a SB when needed.
GrStencilBuffer* stencilBuffer = rt->getStencilBuffer();
if (fClipInStencil && NULL == stencilBuffer) {
return false;
}
if (fClipInStencil &&
stencilBuffer->mustRenderClip(fClip, rt->width(), rt->height())) {
stencilBuffer->setLastClip(fClip, rt->width(), rt->height());
// we set the current clip to the bounds so that our recursive
// draws are scissored to them. We use the copy of the complex clip
// we just stashed on the SB to render from. We set it back after
// we finish drawing it into the stencil.
const GrClip& clip = stencilBuffer->getLastClip();
fClip.setFromRect(bounds);
AutoStateRestore asr(this);
AutoGeometryPush agp(this);
drawState->setViewMatrix(GrMatrix::I());
this->flushScissor(NULL);
#if !VISUALIZE_COMPLEX_CLIP
drawState->enableState(GrDrawState::kNoColorWrites_StateBit);
#else
drawState->disableState(GrDrawState::kNoColorWrites_StateBit);
#endif
int count = clip.getElementCount();
int clipBit = stencilBuffer->bits();
SkASSERT((clipBit <= 16) &&
"Ganesh only handles 16b or smaller stencil buffers");
clipBit = (1 << (clipBit-1));
bool clearToInside;
GrSetOp startOp = kReplace_SetOp; // suppress warning
int start = process_initial_clip_elements(clip,
rtRect,
&clearToInside,
&startOp);
this->clearStencilClip(clipRect, clearToInside);
// walk through each clip element and perform its set op
// with the existing clip.
for (int c = start; c < count; ++c) {
GrPathFill fill;
bool fillInverted;
// enabled at bottom of loop
drawState->disableState(kModifyStencilClip_StateBit);
bool canRenderDirectToStencil; // can the clip element be drawn
// directly to the stencil buffer
// with a non-inverted fill rule
// without extra passes to
// resolve in/out status.
GrPathRenderer* pr = NULL;
const GrPath* clipPath = NULL;
GrPathRenderer::AutoClearPath arp;
if (kRect_ClipType == clip.getElementType(c)) {
canRenderDirectToStencil = true;
fill = kEvenOdd_PathFill;
fillInverted = false;
// there is no point in intersecting a screen filling
// rectangle.
if (kIntersect_SetOp == clip.getOp(c) &&
clip.getRect(c).contains(rtRect)) {
continue;
}
} else {
fill = clip.getPathFill(c);
fillInverted = GrIsFillInverted(fill);
fill = GrNonInvertedFill(fill);
clipPath = &clip.getPath(c);
pr = this->getClipPathRenderer(*clipPath, fill);
if (NULL == pr) {
fClipInStencil = false;
fClip = clip;
return false;
}
canRenderDirectToStencil =
!pr->requiresStencilPass(this, *clipPath, fill);
arp.set(pr, this, clipPath, fill, false, NULL);
}
GrSetOp op = (c == start) ? startOp : clip.getOp(c);
int passes;
GrStencilSettings stencilSettings[GrStencilSettings::kMaxStencilClipPasses];
bool canDrawDirectToClip; // Given the renderer, the element,
// fill rule, and set operation can
// we render the element directly to
// stencil bit used for clipping.
canDrawDirectToClip =
GrStencilSettings::GetClipPasses(op,
canRenderDirectToStencil,
clipBit,
fillInverted,
&passes, stencilSettings);
// draw the element to the client stencil bits if necessary
if (!canDrawDirectToClip) {
GR_STATIC_CONST_SAME_STENCIL(gDrawToStencil,
kIncClamp_StencilOp,
kIncClamp_StencilOp,
kAlways_StencilFunc,
0xffff,
0x0000,
0xffff);
SET_RANDOM_COLOR
if (kRect_ClipType == clip.getElementType(c)) {
*drawState->stencil() = gDrawToStencil;
this->drawSimpleRect(clip.getRect(c), NULL, 0);
} else {
if (canRenderDirectToStencil) {
*drawState->stencil() = gDrawToStencil;
pr->drawPath(0);
} else {
pr->drawPathToStencil();
}
}
}
// now we modify the clip bit by rendering either the clip
// element directly or a bounding rect of the entire clip.
drawState->enableState(kModifyStencilClip_StateBit);
for (int p = 0; p < passes; ++p) {
*drawState->stencil() = stencilSettings[p];
if (canDrawDirectToClip) {
if (kRect_ClipType == clip.getElementType(c)) {
SET_RANDOM_COLOR
this->drawSimpleRect(clip.getRect(c), NULL, 0);
} else {
SET_RANDOM_COLOR
pr->drawPath(0);
}
} else {
SET_RANDOM_COLOR
this->drawSimpleRect(bounds, NULL, 0);
}
}
}
void GrDefaultPathRenderer::onDrawPath(GrDrawTarget::StageBitfield stages,
bool stencilOnly) {
GrMatrix viewM = fTarget->getViewMatrix();
GrScalar tol = GR_Scalar1;
tol = GrPathUtils::scaleToleranceToSrc(tol, viewM, fPath->getBounds());
// FIXME: It's really dumb that we recreate the verts for a new vertex
// layout. We only do that because the GrDrawTarget API doesn't allow
// us to change the vertex layout after reserveVertexSpace(). We won't
// actually change the vertex data when the layout changes since all the
// stages reference the positions (rather than having separate tex coords)
// and we don't ever have per-vert colors. In practice our call sites
// won't change the stages in use inside a setPath / removePath pair. But
// it is a silly limitation of the GrDrawTarget design that should be fixed.
if (tol != fPreviousSrcTol ||
stages != fPreviousStages) {
if (!this->createGeom(tol, stages)) {
return;
}
}
GrAssert(NULL != fTarget);
GrDrawTarget::AutoStateRestore asr(fTarget);
bool colorWritesWereDisabled = fTarget->isColorWriteDisabled();
// face culling doesn't make sense here
GrAssert(GrDrawTarget::kBoth_DrawFace == fTarget->getDrawFace());
int passCount = 0;
const GrStencilSettings* passes[3];
GrDrawTarget::DrawFace drawFace[3];
bool reverse = false;
bool lastPassIsBounds;
if (kHairLine_PathFill == fFill) {
passCount = 1;
if (stencilOnly) {
passes[0] = &gDirectToStencil;
} else {
passes[0] = NULL;
}
lastPassIsBounds = false;
drawFace[0] = GrDrawTarget::kBoth_DrawFace;
} else {
if (single_pass_path(*fTarget, *fPath, fFill)) {
passCount = 1;
if (stencilOnly) {
passes[0] = &gDirectToStencil;
} else {
passes[0] = NULL;
}
drawFace[0] = GrDrawTarget::kBoth_DrawFace;
lastPassIsBounds = false;
} else {
switch (fFill) {
case kInverseEvenOdd_PathFill:
reverse = true;
// fallthrough
case kEvenOdd_PathFill:
passes[0] = &gEOStencilPass;
if (stencilOnly) {
passCount = 1;
lastPassIsBounds = false;
} else {
passCount = 2;
lastPassIsBounds = true;
if (reverse) {
passes[1] = &gInvEOColorPass;
} else {
passes[1] = &gEOColorPass;
}
}
drawFace[0] = drawFace[1] = GrDrawTarget::kBoth_DrawFace;
break;
case kInverseWinding_PathFill:
reverse = true;
// fallthrough
case kWinding_PathFill:
if (fSeparateStencil) {
if (fStencilWrapOps) {
passes[0] = &gWindStencilSeparateWithWrap;
} else {
passes[0] = &gWindStencilSeparateNoWrap;
}
passCount = 2;
drawFace[0] = GrDrawTarget::kBoth_DrawFace;
} else {
if (fStencilWrapOps) {
passes[0] = &gWindSingleStencilWithWrapInc;
passes[1] = &gWindSingleStencilWithWrapDec;
} else {
passes[0] = &gWindSingleStencilNoWrapInc;
passes[1] = &gWindSingleStencilNoWrapDec;
}
// which is cw and which is ccw is arbitrary.
drawFace[0] = GrDrawTarget::kCW_DrawFace;
drawFace[1] = GrDrawTarget::kCCW_DrawFace;
passCount = 3;
}
if (stencilOnly) {
lastPassIsBounds = false;
--passCount;
} else {
lastPassIsBounds = true;
drawFace[passCount-1] = GrDrawTarget::kBoth_DrawFace;
if (reverse) {
passes[passCount-1] = &gInvWindColorPass;
} else {
passes[passCount-1] = &gWindColorPass;
}
}
break;
default:
GrAssert(!"Unknown path fFill!");
return;
}
}
}
{
for (int p = 0; p < passCount; ++p) {
fTarget->setDrawFace(drawFace[p]);
if (NULL != passes[p]) {
fTarget->setStencil(*passes[p]);
}
if (lastPassIsBounds && (p == passCount-1)) {
if (!colorWritesWereDisabled) {
fTarget->disableState(GrDrawTarget::kNoColorWrites_StateBit);
}
GrRect bounds;
if (reverse) {
GrAssert(NULL != fTarget->getRenderTarget());
// draw over the whole world.
bounds.setLTRB(0, 0,
GrIntToScalar(fTarget->getRenderTarget()->width()),
GrIntToScalar(fTarget->getRenderTarget()->height()));
GrMatrix vmi;
// mapRect through persp matrix may not be correct
if (!fTarget->getViewMatrix().hasPerspective() &&
fTarget->getViewInverse(&vmi)) {
vmi.mapRect(&bounds);
} else {
if (stages) {
if (!fTarget->getViewInverse(&vmi)) {
GrPrintf("Could not invert matrix.");
return;
}
fTarget->preConcatSamplerMatrices(stages, vmi);
}
fTarget->setViewMatrix(GrMatrix::I());
}
} else {
bounds = fPath->getBounds();
bounds.offset(fTranslate);
}
GrDrawTarget::AutoGeometryPush agp(fTarget);
fTarget->drawSimpleRect(bounds, NULL, stages);
} else {
if (passCount > 1) {
fTarget->enableState(GrDrawTarget::kNoColorWrites_StateBit);
}
if (fUseIndexedDraw) {
fTarget->drawIndexed(fPrimitiveType, 0, 0,
fVertexCnt, fIndexCnt);
} else {
int baseVertex = 0;
for (int sp = 0; sp < fSubpathCount; ++sp) {
fTarget->drawNonIndexed(fPrimitiveType, baseVertex,
fSubpathVertCount[sp]);
baseVertex += fSubpathVertCount[sp];
}
}
}
}
}
}
////////////////////////////////////////////////////////////////////////////////
// Create a 8-bit clip mask in alpha
bool GrClipMaskManager::createAlphaClipMask(const GrClipData& clipDataIn,
GrTexture** result,
GrIRect *devResultBounds) {
GrAssert(NULL != devResultBounds);
GrAssert(kNone_ClipMaskType == fCurrClipMaskType);
if (this->clipMaskPreamble(clipDataIn, result, devResultBounds)) {
fCurrClipMaskType = kAlpha_ClipMaskType;
return true;
}
// Note: 'resultBounds' is in device (as opposed to canvas) coordinates
GrTexture* accum = fAACache.getLastMask();
if (NULL == accum) {
fAACache.reset();
return false;
}
GrDrawTarget::AutoStateRestore asr(fGpu, GrDrawTarget::kReset_ASRInit);
GrDrawState* drawState = fGpu->drawState();
GrDrawTarget::AutoGeometryPush agp(fGpu);
// The mask we generate is translated so that its upper-left corner is at devResultBounds
// upper-left corner in device space.
GrIRect maskResultBounds = GrIRect::MakeWH(devResultBounds->width(), devResultBounds->height());
// Set the matrix so that rendered clip elements are transformed from the space of the clip
// stack to the alpha-mask. This accounts for both translation due to the clip-origin and the
// placement of the mask within the device.
SkVector clipToMaskOffset = {
SkIntToScalar(-devResultBounds->fLeft - clipDataIn.fOrigin.fX),
SkIntToScalar(-devResultBounds->fTop - clipDataIn.fOrigin.fY)
};
drawState->viewMatrix()->setTranslate(clipToMaskOffset);
bool clearToInside;
SkRegion::Op firstOp = SkRegion::kReplace_Op; // suppress warning
SkClipStack::Iter iter(*clipDataIn.fClipStack,
SkClipStack::Iter::kBottom_IterStart);
const SkClipStack::Iter::Clip* clip = process_initial_clip_elements(&iter,
*devResultBounds,
&clearToInside,
&firstOp,
clipDataIn);
// The scratch texture that we are drawing into can be substantially larger than the mask. Only
// clear the part that we care about.
fGpu->clear(&maskResultBounds,
clearToInside ? 0xffffffff : 0x00000000,
accum->asRenderTarget());
bool accumClearedToZero = !clearToInside;
GrAutoScratchTexture temp;
bool first = true;
// walk through each clip element and perform its set op
for ( ; NULL != clip; clip = iter.nextCombined()) {
SkRegion::Op op = clip->fOp;
if (first) {
first = false;
op = firstOp;
}
if (SkRegion::kReplace_Op == op) {
// clear the accumulator and draw the new object directly into it
if (!accumClearedToZero) {
fGpu->clear(&maskResultBounds, 0x00000000, accum->asRenderTarget());
}
setup_boolean_blendcoeffs(drawState, op);
this->drawClipShape(accum, clip, *devResultBounds);
} else if (SkRegion::kReverseDifference_Op == op ||
SkRegion::kIntersect_Op == op) {
// there is no point in intersecting a screen filling rectangle.
if (SkRegion::kIntersect_Op == op && NULL != clip->fRect &&
contains(*clip->fRect, *devResultBounds, clipDataIn.fOrigin)) {
continue;
}
getTemp(*devResultBounds, &temp);
if (NULL == temp.texture()) {
fAACache.reset();
return false;
}
// this is the bounds of the clip element in the space of the alpha-mask. The temporary
// mask buffer can be substantially larger than the actually clip stack element. We
// touch the minimum number of pixels necessary and use decal mode to combine it with
// the accumulator
GrRect elementMaskBounds = clip->getBounds();
elementMaskBounds.offset(clipToMaskOffset);
GrIRect elementMaskIBounds;
elementMaskBounds.roundOut(&elementMaskIBounds);
// clear the temp target & draw into it
fGpu->clear(&elementMaskIBounds, 0x00000000, temp.texture()->asRenderTarget());
setup_boolean_blendcoeffs(drawState, SkRegion::kReplace_Op);
this->drawClipShape(temp.texture(), clip, elementMaskIBounds);
// Now draw into the accumulator using the real operation
// and the temp buffer as a texture
this->mergeMask(accum, temp.texture(), op, maskResultBounds, elementMaskIBounds);
} else {
// all the remaining ops can just be directly draw into
// the accumulation buffer
setup_boolean_blendcoeffs(drawState, op);
this->drawClipShape(accum, clip, *devResultBounds);
}
accumClearedToZero = false;
}
*result = accum;
fCurrClipMaskType = kAlpha_ClipMaskType;
return true;
}
////////////////////////////////////////////////////////////////////////////////
// Create a 1-bit clip mask in the stencil buffer. 'devClipBounds' are in device
// (as opposed to canvas) coordinates
bool GrClipMaskManager::createStencilClipMask(const GrClipData& clipDataIn,
const GrIRect& devClipBounds) {
GrAssert(kNone_ClipMaskType == fCurrClipMaskType);
GrDrawState* drawState = fGpu->drawState();
GrAssert(drawState->isClipState());
GrRenderTarget* rt = drawState->getRenderTarget();
GrAssert(NULL != rt);
// TODO: dynamically attach a SB when needed.
GrStencilBuffer* stencilBuffer = rt->getStencilBuffer();
if (NULL == stencilBuffer) {
return false;
}
if (stencilBuffer->mustRenderClip(clipDataIn, rt->width(), rt->height())) {
stencilBuffer->setLastClip(clipDataIn, rt->width(), rt->height());
// we set the current clip to the bounds so that our recursive
// draws are scissored to them. We use the copy of the complex clip
// we just stashed on the SB to render from. We set it back after
// we finish drawing it into the stencil.
const GrClipData* oldClipData = fGpu->getClip();
// The origin of 'newClipData' is (0, 0) so it is okay to place
// a device-coordinate bound in 'newClipStack'
SkClipStack newClipStack(devClipBounds);
GrClipData newClipData;
newClipData.fClipStack = &newClipStack;
fGpu->setClip(&newClipData);
GrDrawTarget::AutoStateRestore asr(fGpu, GrDrawTarget::kReset_ASRInit);
drawState = fGpu->drawState();
drawState->setRenderTarget(rt);
GrDrawTarget::AutoGeometryPush agp(fGpu);
if (0 != clipDataIn.fOrigin.fX || 0 != clipDataIn.fOrigin.fY) {
// Add the saveLayer's offset to the view matrix rather than
// offset each individual draw
drawState->viewMatrix()->setTranslate(
SkIntToScalar(-clipDataIn.fOrigin.fX),
SkIntToScalar(-clipDataIn.fOrigin.fY));
}
#if !VISUALIZE_COMPLEX_CLIP
drawState->enableState(GrDrawState::kNoColorWrites_StateBit);
#endif
int clipBit = stencilBuffer->bits();
SkASSERT((clipBit <= 16) &&
"Ganesh only handles 16b or smaller stencil buffers");
clipBit = (1 << (clipBit-1));
GrIRect devRTRect = GrIRect::MakeWH(rt->width(), rt->height());
bool clearToInside;
SkRegion::Op firstOp = SkRegion::kReplace_Op; // suppress warning
SkClipStack::Iter iter(*oldClipData->fClipStack,
SkClipStack::Iter::kBottom_IterStart);
const SkClipStack::Iter::Clip* clip = process_initial_clip_elements(&iter,
devRTRect,
&clearToInside,
&firstOp,
clipDataIn);
fGpu->clearStencilClip(devClipBounds, clearToInside);
bool first = true;
// walk through each clip element and perform its set op
// with the existing clip.
for ( ; NULL != clip; clip = iter.nextCombined()) {
GrPathFill fill;
bool fillInverted = false;
// enabled at bottom of loop
drawState->disableState(GrGpu::kModifyStencilClip_StateBit);
// if the target is MSAA then we want MSAA enabled when the clip is soft
if (rt->isMultisampled()) {
drawState->setState(GrDrawState::kHWAntialias_StateBit, clip->fDoAA);
}
// Can the clip element be drawn directly to the stencil buffer
// with a non-inverted fill rule without extra passes to
// resolve in/out status?
bool canRenderDirectToStencil = false;
SkRegion::Op op = clip->fOp;
if (first) {
first = false;
op = firstOp;
}
GrPathRenderer* pr = NULL;
const SkPath* clipPath = NULL;
if (NULL != clip->fRect) {
canRenderDirectToStencil = true;
fill = kEvenOdd_GrPathFill;
fillInverted = false;
// there is no point in intersecting a screen filling
// rectangle.
if (SkRegion::kIntersect_Op == op &&
contains(*clip->fRect, devRTRect, oldClipData->fOrigin)) {
continue;
}
} else {
GrAssert(NULL != clip->fPath);
fill = get_path_fill(*clip->fPath);
fillInverted = GrIsFillInverted(fill);
fill = GrNonInvertedFill(fill);
clipPath = clip->fPath;
pr = this->getContext()->getPathRenderer(*clipPath, fill, fGpu, false, true);
if (NULL == pr) {
fGpu->setClip(oldClipData);
return false;
}
canRenderDirectToStencil =
!pr->requiresStencilPass(*clipPath, fill, fGpu);
}
int passes;
GrStencilSettings stencilSettings[GrStencilSettings::kMaxStencilClipPasses];
bool canDrawDirectToClip; // Given the renderer, the element,
// fill rule, and set operation can
// we render the element directly to
// stencil bit used for clipping.
canDrawDirectToClip =
GrStencilSettings::GetClipPasses(op,
canRenderDirectToStencil,
clipBit,
fillInverted,
&passes,
stencilSettings);
// draw the element to the client stencil bits if necessary
if (!canDrawDirectToClip) {
GR_STATIC_CONST_SAME_STENCIL(gDrawToStencil,
kIncClamp_StencilOp,
kIncClamp_StencilOp,
kAlways_StencilFunc,
0xffff,
0x0000,
0xffff);
SET_RANDOM_COLOR
if (NULL != clip->fRect) {
*drawState->stencil() = gDrawToStencil;
fGpu->drawSimpleRect(*clip->fRect, NULL);
} else {
if (canRenderDirectToStencil) {
*drawState->stencil() = gDrawToStencil;
pr->drawPath(*clipPath, fill, fGpu, false);
} else {
pr->drawPathToStencil(*clipPath, fill, fGpu);
}
}
}
// now we modify the clip bit by rendering either the clip
// element directly or a bounding rect of the entire clip.
drawState->enableState(GrGpu::kModifyStencilClip_StateBit);
for (int p = 0; p < passes; ++p) {
*drawState->stencil() = stencilSettings[p];
if (canDrawDirectToClip) {
if (NULL != clip->fRect) {
SET_RANDOM_COLOR
fGpu->drawSimpleRect(*clip->fRect, NULL);
} else {
SET_RANDOM_COLOR
pr->drawPath(*clipPath, fill, fGpu, false);
}
} else {
SET_RANDOM_COLOR
// 'devClipBounds' is already in device coordinates so the
// translation in the view matrix is inappropriate.
// Convert it to canvas space so the drawn rect will
// be in the correct location
GrRect canvClipBounds;
canvClipBounds.set(devClipBounds);
device_to_canvas(&canvClipBounds, clipDataIn.fOrigin);
fGpu->drawSimpleRect(canvClipBounds, NULL);
}
}
}
bool GrTesselatedPathRenderer::onDrawPath(const SkPath& path,
GrPathFill fill,
const GrVec* translate,
GrDrawTarget* target,
GrDrawState::StageMask stageMask,
bool antiAlias) {
GrDrawTarget::AutoStateRestore asr(target);
GrDrawState* drawState = target->drawState();
// face culling doesn't make sense here
GrAssert(GrDrawState::kBoth_DrawFace == drawState->getDrawFace());
GrMatrix viewM = drawState->getViewMatrix();
GrScalar tol = GR_Scalar1;
tol = GrPathUtils::scaleToleranceToSrc(tol, viewM, path.getBounds());
GrScalar tolSqd = GrMul(tol, tol);
int subpathCnt;
int maxPts = GrPathUtils::worstCasePointCount(path, &subpathCnt, tol);
GrVertexLayout layout = 0;
for (int s = 0; s < GrDrawState::kNumStages; ++s) {
if ((1 << s) & stageMask) {
layout |= GrDrawTarget::StagePosAsTexCoordVertexLayoutBit(s);
}
}
bool inverted = GrIsFillInverted(fill);
if (inverted) {
maxPts += 4;
subpathCnt++;
}
if (maxPts > USHRT_MAX) {
return false;
}
SkAutoSTMalloc<8, GrPoint> baseMem(maxPts);
GrPoint* base = baseMem;
GrPoint* vert = base;
GrPoint* subpathBase = base;
SkAutoSTMalloc<8, uint16_t> subpathVertCount(subpathCnt);
GrPoint pts[4];
SkPath::Iter iter(path, false);
bool first = true;
int subpath = 0;
for (;;) {
switch (iter.next(pts)) {
case kMove_PathCmd:
if (!first) {
subpathVertCount[subpath] = vert-subpathBase;
subpathBase = vert;
++subpath;
}
*vert = pts[0];
vert++;
break;
case kLine_PathCmd:
*vert = pts[1];
vert++;
break;
case kQuadratic_PathCmd: {
GrPathUtils::generateQuadraticPoints(pts[0], pts[1], pts[2],
tolSqd, &vert,
GrPathUtils::quadraticPointCount(pts, tol));
break;
}
case kCubic_PathCmd: {
GrPathUtils::generateCubicPoints(pts[0], pts[1], pts[2], pts[3],
tolSqd, &vert,
GrPathUtils::cubicPointCount(pts, tol));
break;
}
case kClose_PathCmd:
break;
case kEnd_PathCmd:
subpathVertCount[subpath] = vert-subpathBase;
++subpath; // this could be only in debug
goto FINISHED;
}
first = false;
}
FINISHED:
if (NULL != translate && 0 != translate->fX && 0 != translate->fY) {
for (int i = 0; i < vert - base; i++) {
base[i].offset(translate->fX, translate->fY);
}
}
if (inverted) {
GrRect bounds;
GrAssert(NULL != drawState->getRenderTarget());
bounds.setLTRB(0, 0,
GrIntToScalar(drawState->getRenderTarget()->width()),
GrIntToScalar(drawState->getRenderTarget()->height()));
GrMatrix vmi;
if (drawState->getViewInverse(&vmi)) {
vmi.mapRect(&bounds);
}
*vert++ = GrPoint::Make(bounds.fLeft, bounds.fTop);
*vert++ = GrPoint::Make(bounds.fLeft, bounds.fBottom);
*vert++ = GrPoint::Make(bounds.fRight, bounds.fBottom);
*vert++ = GrPoint::Make(bounds.fRight, bounds.fTop);
subpathVertCount[subpath++] = 4;
}
GrAssert(subpath == subpathCnt);
GrAssert((vert - base) <= maxPts);
size_t count = vert - base;
if (count < 3) {
return true;
}
if (subpathCnt == 1 && !inverted && path.isConvex()) {
if (antiAlias) {
GrEdgeArray edges;
GrMatrix inverse, matrix = drawState->getViewMatrix();
drawState->getViewInverse(&inverse);
count = computeEdgesAndIntersect(matrix, inverse, base, count, &edges, 0.0f);
size_t maxEdges = target->getMaxEdges();
if (count == 0) {
return true;
}
if (count <= maxEdges) {
// All edges fit; upload all edges and draw all verts as a fan
target->setVertexSourceToArray(layout, base, count);
drawState->setEdgeAAData(&edges[0], count);
target->drawNonIndexed(kTriangleFan_PrimitiveType, 0, count);
} else {
// Upload "maxEdges" edges and verts at a time, and draw as
// separate fans
for (size_t i = 0; i < count - 2; i += maxEdges - 2) {
edges[i] = edges[0];
base[i] = base[0];
int size = GR_CT_MIN(count - i, maxEdges);
target->setVertexSourceToArray(layout, &base[i], size);
drawState->setEdgeAAData(&edges[i], size);
target->drawNonIndexed(kTriangleFan_PrimitiveType, 0, size);
}
}
drawState->setEdgeAAData(NULL, 0);
} else {
target->setVertexSourceToArray(layout, base, count);
target->drawNonIndexed(kTriangleFan_PrimitiveType, 0, count);
}
return true;
}
if (antiAlias) {
// Run the tesselator once to get the boundaries.
GrBoundaryTess btess(count, fill_type_to_glu_winding_rule(fill));
btess.addVertices(base, subpathVertCount, subpathCnt);
GrMatrix inverse, matrix = drawState->getViewMatrix();
if (!drawState->getViewInverse(&inverse)) {
return false;
}
if (btess.vertices().count() > USHRT_MAX) {
return false;
}
// Inflate the boundary, and run the tesselator again to generate
// interior polys.
const GrPointArray& contourPoints = btess.contourPoints();
const GrIndexArray& contours = btess.contours();
GrEdgePolygonTess ptess(contourPoints.count(), GLU_TESS_WINDING_NONZERO, matrix);
size_t i = 0;
Sk_gluTessBeginPolygon(ptess.tess(), &ptess);
for (int contour = 0; contour < contours.count(); ++contour) {
int count = contours[contour];
GrEdgeArray edges;
int newCount = computeEdgesAndIntersect(matrix, inverse, &btess.contourPoints()[i], count, &edges, 1.0f);
Sk_gluTessBeginContour(ptess.tess());
for (int j = 0; j < newCount; j++) {
ptess.addVertex(contourPoints[i + j], ptess.vertices().count());
}
i += count;
Sk_gluTessEndContour(ptess.tess());
}
Sk_gluTessEndPolygon(ptess.tess());
if (ptess.vertices().count() > USHRT_MAX) {
return false;
}
// Draw the resulting polys and upload their edge data.
drawState->enableState(GrDrawState::kEdgeAAConcave_StateBit);
const GrPointArray& vertices = ptess.vertices();
const GrIndexArray& indices = ptess.indices();
const GrDrawState::Edge* edges = ptess.edges();
GR_DEBUGASSERT(indices.count() % 3 == 0);
for (int i = 0; i < indices.count(); i += 3) {
GrPoint tri_verts[3];
int index0 = indices[i];
int index1 = indices[i + 1];
int index2 = indices[i + 2];
tri_verts[0] = vertices[index0];
tri_verts[1] = vertices[index1];
tri_verts[2] = vertices[index2];
GrDrawState::Edge tri_edges[6];
int t = 0;
const GrDrawState::Edge& edge0 = edges[index0 * 2];
const GrDrawState::Edge& edge1 = edges[index0 * 2 + 1];
const GrDrawState::Edge& edge2 = edges[index1 * 2];
const GrDrawState::Edge& edge3 = edges[index1 * 2 + 1];
const GrDrawState::Edge& edge4 = edges[index2 * 2];
const GrDrawState::Edge& edge5 = edges[index2 * 2 + 1];
if (validEdge(edge0) && validEdge(edge1)) {
tri_edges[t++] = edge0;
tri_edges[t++] = edge1;
}
if (validEdge(edge2) && validEdge(edge3)) {
tri_edges[t++] = edge2;
tri_edges[t++] = edge3;
}
if (validEdge(edge4) && validEdge(edge5)) {
tri_edges[t++] = edge4;
tri_edges[t++] = edge5;
}
drawState->setEdgeAAData(&tri_edges[0], t);
target->setVertexSourceToArray(layout, &tri_verts[0], 3);
target->drawNonIndexed(kTriangles_PrimitiveType, 0, 3);
}
drawState->setEdgeAAData(NULL, 0);
drawState->disableState(GrDrawState::kEdgeAAConcave_StateBit);
return true;
}
GrPolygonTess ptess(count, fill_type_to_glu_winding_rule(fill));
ptess.addVertices(base, subpathVertCount, subpathCnt);
const GrPointArray& vertices = ptess.vertices();
const GrIndexArray& indices = ptess.indices();
if (indices.count() > 0) {
target->setVertexSourceToArray(layout, vertices.begin(), vertices.count());
target->setIndexSourceToArray(indices.begin(), indices.count());
target->drawIndexed(kTriangles_PrimitiveType,
0,
0,
vertices.count(),
indices.count());
}
return true;
}
DB asr(DB l, DB r, DB eps, DB res) {
DB m = (l+r)/2.0;
DB ls = simpson(l, m), rs = simpson(m, r);
if (fabs(ls+rs-res) < eps*15) return ls+rs+(ls+rs-res)/15;
return asr(l, m, eps/2.0, ls)+asr(m, r, eps/2.0, rs);
}
////////////////////////////////////////////////////////////////////////////////
// Create a 8-bit clip mask in alpha
bool GrClipMaskManager::createAlphaClipMask(GrGpu* gpu,
const GrClip& clipIn,
GrTexture** result,
GrIRect *resultBounds) {
if (this->clipMaskPreamble(gpu, clipIn, result, resultBounds)) {
return true;
}
GrTexture* accum = fAACache.getLastMask();
if (NULL == accum) {
fClipMaskInAlpha = false;
fAACache.reset();
return false;
}
GrDrawTarget::AutoStateRestore asr(gpu, GrDrawTarget::kReset_ASRInit);
GrDrawState* drawState = gpu->drawState();
GrDrawTarget::AutoGeometryPush agp(gpu);
int count = clipIn.getElementCount();
if (0 != resultBounds->fTop || 0 != resultBounds->fLeft) {
// if we were able to trim down the size of the mask we need to
// offset the paths & rects that will be used to compute it
GrMatrix m;
m.setTranslate(SkIntToScalar(-resultBounds->fLeft),
SkIntToScalar(-resultBounds->fTop));
drawState->setViewMatrix(m);
}
bool clearToInside;
SkRegion::Op startOp = SkRegion::kReplace_Op; // suppress warning
int start = process_initial_clip_elements(clipIn,
*resultBounds,
&clearToInside,
&startOp);
clear(gpu, accum, clearToInside ? 0xffffffff : 0x00000000);
GrAutoScratchTexture temp;
// walk through each clip element and perform its set op
for (int c = start; c < count; ++c) {
SkRegion::Op op = (c == start) ? startOp : clipIn.getOp(c);
if (SkRegion::kReplace_Op == op) {
// TODO: replace is actually a lot faster then intersection
// for this path - refactor the stencil path so it can handle
// replace ops and alter GrClip to allow them through
// clear the accumulator and draw the new object directly into it
clear(gpu, accum, 0x00000000);
setup_boolean_blendcoeffs(drawState, op);
this->drawClipShape(gpu, accum, clipIn, c);
} else if (SkRegion::kReverseDifference_Op == op ||
SkRegion::kIntersect_Op == op) {
// there is no point in intersecting a screen filling rectangle.
if (SkRegion::kIntersect_Op == op &&
kRect_ClipType == clipIn.getElementType(c) &&
contains(clipIn.getRect(c), *resultBounds)) {
continue;
}
getTemp(*resultBounds, &temp);
if (NULL == temp.texture()) {
fClipMaskInAlpha = false;
fAACache.reset();
return false;
}
// clear the temp target & draw into it
clear(gpu, temp.texture(), 0x00000000);
setup_boolean_blendcoeffs(drawState, SkRegion::kReplace_Op);
this->drawClipShape(gpu, temp.texture(), clipIn, c);
// TODO: rather than adding these two translations here
// compute the bounding box needed to render the texture
// into temp
if (0 != resultBounds->fTop || 0 != resultBounds->fLeft) {
GrMatrix m;
m.setTranslate(SkIntToScalar(resultBounds->fLeft),
SkIntToScalar(resultBounds->fTop));
drawState->preConcatViewMatrix(m);
}
// Now draw into the accumulator using the real operation
// and the temp buffer as a texture
setup_boolean_blendcoeffs(drawState, op);
this->drawTexture(gpu, accum, temp.texture());
if (0 != resultBounds->fTop || 0 != resultBounds->fLeft) {
GrMatrix m;
m.setTranslate(SkIntToScalar(-resultBounds->fLeft),
SkIntToScalar(-resultBounds->fTop));
drawState->preConcatViewMatrix(m);
}
} else {
// all the remaining ops can just be directly draw into
// the accumulation buffer
setup_boolean_blendcoeffs(drawState, op);
this->drawClipShape(gpu, accum, clipIn, c);
}
}
*result = accum;
return true;
}
////////////////////////////////////////////////////////////////////////////////
// Create a 1-bit clip mask in the stencil buffer
bool GrClipMaskManager::createStencilClipMask(GrGpu* gpu,
const GrClip& clipIn,
const GrRect& bounds,
ScissoringSettings* scissorSettings) {
GrAssert(fClipMaskInStencil);
GrDrawState* drawState = gpu->drawState();
GrAssert(drawState->isClipState());
GrRenderTarget* rt = drawState->getRenderTarget();
GrAssert(NULL != rt);
// TODO: dynamically attach a SB when needed.
GrStencilBuffer* stencilBuffer = rt->getStencilBuffer();
if (NULL == stencilBuffer) {
return false;
}
if (stencilBuffer->mustRenderClip(clipIn, rt->width(), rt->height())) {
stencilBuffer->setLastClip(clipIn, rt->width(), rt->height());
// we set the current clip to the bounds so that our recursive
// draws are scissored to them. We use the copy of the complex clip
// we just stashed on the SB to render from. We set it back after
// we finish drawing it into the stencil.
const GrClip& clipCopy = stencilBuffer->getLastClip();
gpu->setClip(GrClip(bounds));
GrDrawTarget::AutoStateRestore asr(gpu, GrDrawTarget::kReset_ASRInit);
drawState = gpu->drawState();
drawState->setRenderTarget(rt);
GrDrawTarget::AutoGeometryPush agp(gpu);
gpu->disableScissor();
#if !VISUALIZE_COMPLEX_CLIP
drawState->enableState(GrDrawState::kNoColorWrites_StateBit);
#endif
int count = clipCopy.getElementCount();
int clipBit = stencilBuffer->bits();
SkASSERT((clipBit <= 16) &&
"Ganesh only handles 16b or smaller stencil buffers");
clipBit = (1 << (clipBit-1));
GrIRect rtRect = GrIRect::MakeWH(rt->width(), rt->height());
bool clearToInside;
SkRegion::Op startOp = SkRegion::kReplace_Op; // suppress warning
int start = process_initial_clip_elements(clipCopy,
rtRect,
&clearToInside,
&startOp);
gpu->clearStencilClip(scissorSettings->fScissorRect, clearToInside);
// walk through each clip element and perform its set op
// with the existing clip.
for (int c = start; c < count; ++c) {
GrPathFill fill;
bool fillInverted;
// enabled at bottom of loop
drawState->disableState(GrGpu::kModifyStencilClip_StateBit);
bool canRenderDirectToStencil; // can the clip element be drawn
// directly to the stencil buffer
// with a non-inverted fill rule
// without extra passes to
// resolve in/out status.
SkRegion::Op op = (c == start) ? startOp : clipCopy.getOp(c);
GrPathRenderer* pr = NULL;
const SkPath* clipPath = NULL;
if (kRect_ClipType == clipCopy.getElementType(c)) {
canRenderDirectToStencil = true;
fill = kEvenOdd_PathFill;
fillInverted = false;
// there is no point in intersecting a screen filling
// rectangle.
if (SkRegion::kIntersect_Op == op &&
contains(clipCopy.getRect(c), rtRect)) {
continue;
}
} else {
fill = clipCopy.getPathFill(c);
fillInverted = GrIsFillInverted(fill);
fill = GrNonInvertedFill(fill);
clipPath = &clipCopy.getPath(c);
pr = this->getClipPathRenderer(gpu, *clipPath, fill, false);
if (NULL == pr) {
fClipMaskInStencil = false;
gpu->setClip(clipCopy); // restore to the original
return false;
}
canRenderDirectToStencil =
!pr->requiresStencilPass(*clipPath, fill, gpu);
}
int passes;
GrStencilSettings stencilSettings[GrStencilSettings::kMaxStencilClipPasses];
bool canDrawDirectToClip; // Given the renderer, the element,
// fill rule, and set operation can
// we render the element directly to
// stencil bit used for clipping.
canDrawDirectToClip =
GrStencilSettings::GetClipPasses(op,
canRenderDirectToStencil,
clipBit,
fillInverted,
&passes, stencilSettings);
// draw the element to the client stencil bits if necessary
if (!canDrawDirectToClip) {
GR_STATIC_CONST_SAME_STENCIL(gDrawToStencil,
kIncClamp_StencilOp,
kIncClamp_StencilOp,
kAlways_StencilFunc,
0xffff,
0x0000,
0xffff);
SET_RANDOM_COLOR
if (kRect_ClipType == clipCopy.getElementType(c)) {
*drawState->stencil() = gDrawToStencil;
gpu->drawSimpleRect(clipCopy.getRect(c), NULL, 0);
} else {
if (canRenderDirectToStencil) {
*drawState->stencil() = gDrawToStencil;
pr->drawPath(*clipPath, fill, NULL, gpu, 0, false);
} else {
pr->drawPathToStencil(*clipPath, fill, gpu);
}
}
}
// now we modify the clip bit by rendering either the clip
// element directly or a bounding rect of the entire clip.
drawState->enableState(GrGpu::kModifyStencilClip_StateBit);
for (int p = 0; p < passes; ++p) {
*drawState->stencil() = stencilSettings[p];
if (canDrawDirectToClip) {
if (kRect_ClipType == clipCopy.getElementType(c)) {
SET_RANDOM_COLOR
gpu->drawSimpleRect(clipCopy.getRect(c), NULL, 0);
} else {
SET_RANDOM_COLOR
pr->drawPath(*clipPath, fill, NULL, gpu, 0, false);
}
} else {
SET_RANDOM_COLOR
gpu->drawSimpleRect(bounds, NULL, 0);
}
}
}
//自适应Simpson公式（主过程）
double asr(double a, double b, double eps) {
return asr (a, b, eps, Simpson (a, b));
}
int main(int argc, const char* argv[])
{
std::string opt_ip = "131.254.10.126";
bool opt_language_english = true;
bool opt_debug = false;
for (unsigned int i=0; i<argc; i++) {
if (std::string(argv[i]) == "--ip")
opt_ip = argv[i+1];
else if (std::string(argv[i]) == "--fr")
opt_language_english = false;
else if (std::string(argv[i]) == "--debug")
opt_debug = true;
else if (std::string(argv[i]) == "--help") {
std::cout << "Usage: " << argv[0] << "[--ip <robot address>] [--fr]" << std::endl;
return 0;
}
}
std::string camera_name = "CameraTopPepper";
// Open the grabber for the acquisition of the images from the robot
vpNaoqiGrabber g;
if (! opt_ip.empty())
g.setRobotIp(opt_ip);
g.setFramerate(30);
g.setCamera(0);
g.open();
vpCameraParameters cam = vpNaoqiGrabber::getIntrinsicCameraParameters(AL::kQVGA,camera_name, vpCameraParameters::perspectiveProjWithDistortion);
vpHomogeneousMatrix eMc = vpNaoqiGrabber::getExtrinsicCameraParameters(camera_name,vpCameraParameters::perspectiveProjWithDistortion);
std::cout << "eMc:" << std::endl << eMc << std::endl;
std::cout << "cam:" << std::endl << cam << std::endl;
vpNaoqiRobot robot;
// Connect to the robot
if (! opt_ip.empty())
robot.setRobotIp(opt_ip);
robot.open();
if (robot.getRobotType() != vpNaoqiRobot::Pepper)
{
std::cout << "ERROR: You are not connected to Pepper, but to a different Robot. Check the IP. " << std::endl;
return 0;
}
std::vector<std::string> jointNames_head = robot.getBodyNames("Head");
// Open Proxy for the speech
AL::ALTextToSpeechProxy tts(opt_ip, 9559);
std::string phraseToSay;
if (opt_language_english)
{
tts.setLanguage("English");
phraseToSay = " \\emph=2\\ Hi,\\pau=200\\ How are you ?";
}
else
{
tts.setLanguage("French");
phraseToSay = " \\emph=2\\ Bonjour,\\pau=200\\ comment vas tu ?";
}
// Inizialize PeoplePerception
AL::ALPeoplePerceptionProxy people_proxy(opt_ip, 9559);
AL::ALMemoryProxy m_memProxy(opt_ip, 9559);
people_proxy.subscribe("People", 30, 0.0);
std::cout << "period: " << people_proxy.getCurrentPeriod() << std::endl;
// Open Proxy for the recognition speech
AL::ALSpeechRecognitionProxy asr(opt_ip, 9559);
// asr.unsubscribe("Test_ASR");
// return 0 ;
asr.setVisualExpression(false);
asr.setLanguage("English");
std::vector<std::string> vocabulary;
vocabulary.push_back("follow me");
vocabulary.push_back("stop");
// Set the vocabulary
asr.setVocabulary(vocabulary,false);
// Start the speech recognition engine with user Test_ASR
asr.subscribe("Test_ASR");
std::cout << "Speech recognition engine started" << std::endl;
// Proxy to control the leds
AL::ALLedsProxy led_proxy(opt_ip, 9559);
//Declare plots
vpPlot * plotter_diff_vel; vpPlot * plotter_vel;
vpPlot * plotter_error; vpPlot * plotter_distance;
if (opt_debug)
{
// Plotting
plotter_diff_vel = new vpPlot (2);
plotter_diff_vel->initGraph(0, 2);
plotter_diff_vel->initGraph(1, 2);
plotter_diff_vel->setTitle(0, "HeadYaw");
plotter_diff_vel->setTitle(1, "HeadPitch");
plotter_vel= new vpPlot (1);
plotter_vel->initGraph(0, 5);
plotter_vel->setLegend(0, 0, "vx");
plotter_vel->setLegend(0, 1, "vy");
plotter_vel->setLegend(0, 2, "wz");
plotter_vel->setLegend(0, 3, "q_yaw");
plotter_vel->setLegend(0, 4, "q_pitch");
plotter_error = new vpPlot(1);
plotter_error->initGraph(0, 3);
plotter_error->setLegend(0, 0, "x");
plotter_error->setLegend(0, 1, "y");
plotter_error->setLegend(0, 2, "Z");
plotter_distance = new vpPlot (1);
plotter_distance->initGraph(0, 1);
plotter_distance->setLegend(0, 0, "dist");
}
try {
vpImage<unsigned char> I(g.getHeight(), g.getWidth());
vpDisplayX d(I);
vpDisplay::setTitle(I, "ViSP viewer");
vpFaceTrackerOkao face_tracker(opt_ip,9559);
double dist = 0.0; // Distance between person detected from peoplePerception and faceDetection
// Set Visual Servoing:
vpServo task;
task.setServo(vpServo::EYEINHAND_L_cVe_eJe) ;
task.setInteractionMatrixType(vpServo::CURRENT, vpServo::PSEUDO_INVERSE);
// vpAdaptiveGain lambda_adapt;
// lambda_adapt.initStandard(1.6, 1.8, 15);
vpAdaptiveGain lambda_base(1.2, 1.0, 10); // 2.3, 0.7, 15
vpAdaptiveGain lambda_nobase(5, 2.9, 15); // 4, 0.5, 15
task.setLambda(lambda_base) ;
double Z = 0.9;
double Zd = 0.9;
bool stop_vxy = false;
bool move_base = true;
bool move_base_prev = true;
// Create the desired visual feature
vpFeaturePoint s;
vpFeaturePoint sd;
vpImagePoint ip(I.getHeight()/2, I.getWidth()/2);
// Create the current x visual feature
vpFeatureBuilder::create(s, cam, ip);
vpFeatureBuilder::create(sd, cam, ip);
// sd.buildFrom( I.getWidth()/2, I.getHeight()/2, Zd);
AL::ALValue limit_yaw = robot.getProxy()->getLimits("HeadYaw");
std::cout << limit_yaw[0][0] << " " << limit_yaw[0][1] << std::endl;
// Add the feature
task.addFeature(s, sd) ;
vpFeatureDepth s_Z, s_Zd;
s_Z.buildFrom(s.get_x(), s.get_y(), Z , 0); // log(Z/Z*) = 0 that's why the last parameter is 0
s_Zd.buildFrom(sd.get_x(), sd.get_y(), Zd , 0); // log(Z/Z*) = 0 that's why the last parameter is 0
// Add the feature
task.addFeature(s_Z, s_Zd);
// Jacobian 6x5 (vx,vy,wz,q_yaq,q_pitch)
vpMatrix tJe(6,5);
tJe[0][0]= 1;
tJe[1][1]= 1;
tJe[5][2]= 1;
vpMatrix eJe(6,5);
double servo_time_init = 0;
vpImagePoint head_cog_cur;
vpImagePoint head_cog_des(I.getHeight()/2, I.getWidth()/2);
vpColVector q_dot;
bool reinit_servo = true;
unsigned long loop_iter = 0;
std::vector<std::string> recognized_names;
std::map<std::string,unsigned int> detected_face_map;
bool detection_phase = true;
unsigned int f_count = 0;
// AL::ALValue leg_names = AL::ALValue::array("HipRoll","HipPitch", "KneePitch" );
// AL::ALValue values = AL::ALValue::array(0.0, 0.0, 0.0 );
// robot.getProxy()->setMoveArmsEnabled(false,false);
std::vector<std::string> arm_names = robot.getBodyNames("LArm");
std::vector<std::string> rarm_names = robot.getBodyNames("RArm");
std::vector<std::string> leg_names(3);
leg_names[0]= "HipRoll";
leg_names[1]= "HipPitch";
leg_names[2]= "KneePitch";
arm_names.insert( arm_names.end(), rarm_names.begin(), rarm_names.end() );
arm_names.insert( arm_names.end(), leg_names.begin(), leg_names.end() );
std::vector<float> arm_values(arm_names.size(),0.0);
for (unsigned int i = 0; i < arm_names.size(); i++ )
std::cout << arm_names[i]<< std::endl;
robot.getPosition(arm_names, arm_values,false);
vpImagePoint best_cog_face_peoplep;
bool person_found = false;
double t_prev = vpTime::measureTimeSecond();
while(1) {
if (reinit_servo) {
servo_time_init = vpTime::measureTimeSecond();
t_prev = vpTime::measureTimeSecond();
reinit_servo = false;
led_proxy.fadeRGB("FaceLeds","white",0.1);
}
double t = vpTime::measureTimeMs();
if (0) // (opt_debug)
{
g.acquire(I);
}
vpDisplay::display(I);
// Detect face
bool face_found = face_tracker.detect();
stop_vxy = false;
//std::cout << "Loop time face_tracker: " << vpTime::measureTimeMs() - t << " ms" << std::endl;
// Check speech recognition result
AL::ALValue result_speech = m_memProxy.getData("WordRecognized");
if ( ((result_speech[0]) == vocabulary[0]) && (double (result_speech[1]) > 0.4 )) //move
{
//std::cout << "Recognized: " << result_speech[0] << "with confidence of " << result_speech[1] << std::endl;
task.setLambda(lambda_base) ;
move_base = true;
}
else if ( (result_speech[0] == vocabulary[1]) && (double(result_speech[1]) > 0.4 )) //stop
{
//std::cout << "Recognized: " << result_speech[0] << "with confidence of " << result_speech[1] << std::endl;
task.setLambda(lambda_nobase) ;
move_base = false;
}
if (move_base != move_base_prev)
{
if (move_base)
{
phraseToSay = "Ok, I will follow you.";
tts.post.say(phraseToSay);
}
else
{
phraseToSay = "Ok, I will stop.";
tts.post.say(phraseToSay);
}
}
//robot.setStiffness(arm_names,0.0);
//robot.getProxy()->setAngles(arm_names,arm_values,1.0);
//robot.getProxy()->setAngles("HipRoll",0.0,1.0);
//std::cout << "Loop time check_speech: " << vpTime::measureTimeMs() - t << " ms" << std::endl;
move_base_prev = move_base;
if (face_found) {
std::ostringstream text;
text << "Found " << face_tracker.getNbObjects() << " face(s)";
vpDisplay::displayText(I, 10, 10, text.str(), vpColor::red);
for(size_t i=0; i < face_tracker.getNbObjects(); i++) {
vpRect bbox = face_tracker.getBBox(i);
if (i == 0)
vpDisplay::displayRectangle(I, bbox, vpColor::red, false, 2);
else
vpDisplay::displayRectangle(I, bbox, vpColor::green, false, 1);
vpDisplay::displayText(I, (int)bbox.getTop()-10, (int)bbox.getLeft(), face_tracker.getMessage(i) , vpColor::red);
}
led_proxy.post.fadeRGB("FaceLeds","blue",0.1);
double u = face_tracker.getCog(0).get_u();
double v = face_tracker.getCog(0).get_v();
if (u<= g.getWidth() && v <= g.getHeight())
head_cog_cur.set_uv(u,v);
vpRect bbox = face_tracker.getBBox(0);
std::string name = face_tracker.getMessage(0);
//std::cout << "Loop time face print " << vpTime::measureTimeMs() - t << " ms" << std::endl;
}
AL::ALValue result = m_memProxy.getData("PeoplePerception/VisiblePeopleList");
//std::cout << "Loop time get Data PeoplePerception " << vpTime::measureTimeMs() - t << " ms" << std::endl;
person_found = false;
if (result.getSize() > 0)
{
AL::ALValue info = m_memProxy.getData("PeoplePerception/PeopleDetected");
int num_people = info[1].getSize();
std::ostringstream text;
text << "Found " << num_people << " person(s)";
vpDisplay::displayText(I, 10, 10, text.str(), vpColor::red);
person_found = true;
if (face_found) // Try to find the match between two detection
{
vpImagePoint cog_face;
double dist_min = 1000;
unsigned int index_person = 0;
for (unsigned int i = 0; i < num_people; i++)
{
float alpha = info[1][i][2];
float beta = info[1][i][3];
//Z = Zd;
// Centre of face into the image
float x = g.getWidth()/2 - g.getWidth() * beta;
float y = g.getHeight()/2 + g.getHeight() * alpha;
cog_face.set_uv(x,y);
dist = vpImagePoint::distance(cog_face, head_cog_cur);
if (dist < dist_min)
{
dist_min = dist;
best_cog_face_peoplep = cog_face;
index_person = i;
}
}
vpDisplay::displayCross(I, best_cog_face_peoplep, 10, vpColor::white);
if (dist_min < 55.)
{
Z = info[1][index_person][1]; // Current distance
}
}
else // Take the first one on the list
{
float alpha = info[1][0][2];
float beta = info[1][0][3];
//Z = Zd;
// Centre of face into the image
float x = g.getWidth()/2 - g.getWidth() * beta;
float y = g.getHeight()/2 + g.getHeight() * alpha;
head_cog_cur.set_uv(x,y);
Z = info[1][0][1]; // Current distance
}
}
else
{
std::cout << "No distance computed " << std::endl;
stop_vxy = true;
robot.getProxy()->setAngles("HipRoll",0.0,1.0);
//Z = Zd;
}
// float alpha = info[1][0][2];
// float beta = info[1][0][3];
// //Z = Zd;
// // Centre of face into the image
// float x = g.getWidth()/2 - g.getWidth() * beta;
// float y = g.getHeight()/2 + g.getHeight() * alpha;
// vpImagePoint cog_face(y,x);
// dist = vpImagePoint::distance(cog_face,head_cog_cur);
// if (dist < 55.)
// Z = info[1][0][1]; // Current distance
// else
// stop_vxy = true;
// }
// else
// {
// std::cout << "No distance computed " << std::endl;
// stop_vxy = true;
// //Z = Zd;
// }
//std::cout << "Loop time before VS: " << vpTime::measureTimeMs() - t << " ms" << std::endl;
if (face_found || person_found )
{
// Get Head Jacobian (6x2)
vpMatrix torso_eJe_head;
robot.get_eJe("Head",torso_eJe_head);
// Add column relative to the base rotation (Wz)
// vpColVector col_wz(6);
// col_wz[5] = 1;
for (unsigned int i = 0; i < 6; i++)
for (unsigned int j = 0; j < torso_eJe_head.getCols(); j++)
tJe[i][j+3] = torso_eJe_head[i][j];
// std::cout << "tJe" << std::endl << tJe << std::endl;
// vpHomogeneousMatrix torsoMHeadPith( robot.getProxy()->getTransform(jointNames_head[jointNames_head.size()-1], 0, true));// get transformation matrix between torso and HeadRoll
vpHomogeneousMatrix torsoMHeadPith( robot.getProxy()->getTransform("HeadPitch", 0, true));// get transformation matrix between torso and HeadRoll
vpVelocityTwistMatrix HeadPitchVLtorso(torsoMHeadPith.inverse());
for(unsigned int i=0; i< 3; i++)
for(unsigned int j=0; j< 3; j++)
HeadPitchVLtorso[i][j+3] = 0;
//std::cout << "HeadPitchVLtorso: " << std::endl << HeadPitchVLtorso << std::endl;
// Transform the matrix
eJe = HeadPitchVLtorso *tJe;
// std::cout << "eJe" << std::endl << eJe << std::endl;
task.set_eJe( eJe );
task.set_cVe( vpVelocityTwistMatrix(eMc.inverse()) );
vpDisplay::displayCross(I, head_cog_des, 10, vpColor::blue);
vpDisplay::displayCross(I, head_cog_cur, 10, vpColor::green);
// std::cout << "head_cog_des:" << std::endl << head_cog_des << std::endl;
// std::cout << "head_cog_cur:" << std::endl << head_cog_cur << std::endl;
// Update the current x feature
double x,y;
vpPixelMeterConversion::convertPoint(cam, head_cog_cur, x, y);
s.buildFrom(x, y, Z);
//s.set_xyZ(head_cog_cur.get_u(), head_cog_cur.get_v(), Z);
// Update log(Z/Z*) feature. Since the depth Z change, we need to update the intection matrix
s_Z.buildFrom(s.get_x(), s.get_y(), Z, log(Z/Zd)) ;
q_dot = task.computeControlLaw(vpTime::measureTimeSecond() - servo_time_init);
//std::cout << "Loop time compute VS: " << vpTime::measureTimeMs() - t << " ms" << std::endl;
vpMatrix P = task.getI_WpW();
double alpha = -3.3;
double min = limit_yaw[0][0];
double max = limit_yaw[0][1];
vpColVector z_q2 (q_dot.size());
vpColVector q_yaw = robot.getPosition(jointNames_head[0]);
z_q2[3] = 2 * alpha * q_yaw[0]/ pow((max - min),2);
vpColVector q3 = P * z_q2;
//if (q3.euclideanNorm()<10.0)
q_dot = q_dot + q3;
std::vector<float> vel(jointNames_head.size());
vel[0] = q_dot[3];
vel[1] = q_dot[4];
// Compute the distance in pixel between the target and the center of the image
double distance = vpImagePoint::distance(head_cog_cur, head_cog_des);
//if (distance > 0.03*I.getWidth())
std::cout << "q:" << std::endl << q_dot << std::endl;
// std::cout << "vel" << std::endl << q_dot << std::endl;
//std::cout << "distance" << std::endl << distance <<" -- " << 0.03*I.getWidth() << " ++ " << I.getWidth() << std::endl;
// if (distance > 0.1*I.getWidth())
robot.setVelocity(jointNames_head,vel);
// else
// {
// std::cout << "Setting hipRoll to zero" << std::endl;
// robot.getProxy()->setAngles("HipRoll",0.0,1.0);
// }
// std::cout << "errorZ: " << task.getError()[2] << std::endl;
// std::cout << "stop_vxy: " << stop_vxy << std::endl;
if (std::fabs(Z -Zd) < 0.05 || stop_vxy || !move_base)
robot.setBaseVelocity(0.0, 0.0, q_dot[2]);
else
robot.setBaseVelocity(q_dot[0], q_dot[1], q_dot[2]);
if (opt_debug)
{
vpColVector vel_head = robot.getJointVelocity(jointNames_head);
for (unsigned int i=0 ; i < jointNames_head.size() ; i++) {
plotter_diff_vel->plot(i, 1, loop_iter, q_dot[i+3]);
plotter_diff_vel->plot(i, 0, loop_iter, vel_head[i]);
}
plotter_error->plot(0,loop_iter,task.getError());
plotter_vel->plot(0,loop_iter, q3);
plotter_distance->plot(0,0,loop_iter,Z);
}
// if (detection_phase)
// {
// //if (score >= 0.4 && distance < 0.06*I.getWidth() && bbox.getSize() > 3000)
// if (distance < 0.06*I.getWidth() && bbox.getSize() > 3000)
// {
// if (opt_debug)
// {
// vpDisplay::displayRectangle(I, bbox, vpColor::red, false, 1);
// vpDisplay::displayText(I, (int)bbox.getTop()-10, (int)bbox.getLeft(), name, vpColor::red);
// }
// detected_face_map[name]++;
// f_count++;
// }
// else
// {
// if (opt_debug)
// {
// vpDisplay::displayRectangle(I, bbox, vpColor::green, false, 1);
// vpDisplay::displayText(I, (int)bbox.getTop()-10, (int)bbox.getLeft(), name, vpColor::green);
// }
// }
// if (f_count>10)
// {
// detection_phase = false;
// f_count = 0;
// }
// }
// else
// {
// std::string recognized_person_name = std::max_element(detected_face_map.begin(), detected_face_map.end(), pred)->first;
// unsigned int times = std::max_element(detected_face_map.begin(), detected_face_map.end(), pred)->second;
// if (!in_array(recognized_person_name, recognized_names) && recognized_person_name != "Unknown") {
// if (opt_language_english)
// {
// phraseToSay = "\\emph=2\\ Hi \\wait=200\\ \\emph=2\\" + recognized_person_name + "\\pau=200\\ How are you ?";
// }
// else
// {
// phraseToSay = "\\emph=2\\ Salut \\wait=200\\ \\emph=2\\" + recognized_person_name + "\\pau=200\\ comment vas tu ?";;
// }
// std::cout << phraseToSay << std::endl;
// tts.post.say(phraseToSay);
// recognized_names.push_back(recognized_person_name);
// }
// if (!in_array(recognized_person_name, recognized_names) && recognized_person_name == "Unknown"
// && times > 15)
// {
// if (opt_language_english)
// {
// phraseToSay = "\\emph=2\\ Hi \\wait=200\\ \\emph=2\\. I don't know you! \\emph=2\\ What's your name?";
// }
// else
// {
// phraseToSay = " \\emph=2\\ Salut \\wait=200\\ \\emph=2\\. Je ne te connais pas! \\emph=2\\ Comment t'appelles-tu ?";
// }
// std::cout << phraseToSay << std::endl;
// tts.post.say(phraseToSay);
// recognized_names.push_back(recognized_person_name);
// }
// detection_phase = true;
// detected_face_map.clear();
// }
}
else {
robot.stop(jointNames_head);
robot.stopBase();
std::cout << "Stop!" << std::endl;
reinit_servo = true;
}
//if (opt_debug)
vpDisplay::flush(I);
if (vpDisplay::getClick(I, false))
break;
loop_iter ++;
std::cout << "Loop time: " << vpTime::measureTimeMs() - t << " ms" << std::endl;
}
robot.stop(jointNames_head);
robot.stopBase();
tts.setLanguage("French");
// tts.exit();
people_proxy.unsubscribe("People");
// people_proxy.exit();
asr.unsubscribe("Test_ASR");
asr.setVisualExpression(true);
// asr.exit();
tts.setLanguage("French");
// tts.exit();
led_proxy.fadeRGB("FaceLeds","white",0.1);
// led_proxy.exit();
vpDisplay::getClick(I, true);
}
catch(vpException &e) {
std::cout << e.getMessage() << std::endl;
}
catch (const AL::ALError& e)
{
std::cerr << "Caught exception " << e.what() << std::endl;
}
std::cout << "The end: stop the robot..." << std::endl;
//tts.setLanguage("French");
// tts.exit();
robot.stop(jointNames_head);
robot.stopBase();
return 0;
}
// `用自适应Simpson公式计算宽度为w，高度为h的抛物线长`
double parabola_arc_length(double w, double h)
{
a = 4.0*h/(w*w); // `修改全局变量a，从而改变全局函数F的行为`
return asr(0, w/2, 1e-5)*2;
}
void GrDefaultPathRenderer::onDrawPath(GrDrawTarget* target,
GrDrawTarget::StageBitfield stages,
const GrPath& path,
GrPathFill fill,
const GrPoint* translate,
bool stencilOnly) {
GrDrawTarget::AutoStateRestore asr(target);
bool colorWritesWereDisabled = target->isColorWriteDisabled();
// face culling doesn't make sense here
GrAssert(GrDrawTarget::kBoth_DrawFace == target->getDrawFace());
GrMatrix viewM = target->getViewMatrix();
// In order to tesselate the path we get a bound on how much the matrix can
// stretch when mapping to screen coordinates.
GrScalar stretch = viewM.getMaxStretch();
bool useStretch = stretch > 0;
GrScalar tol = fCurveTolerance;
if (!useStretch) {
// TODO: deal with perspective in some better way.
tol /= 10;
} else {
tol = GrScalarDiv(tol, stretch);
}
GrScalar tolSqd = GrMul(tol, tol);
int subpathCnt;
int maxPts = GrPathUtils::worstCasePointCount(path, &subpathCnt, tol);
GrVertexLayout layout = 0;
for (int s = 0; s < GrDrawTarget::kNumStages; ++s) {
if ((1 << s) & stages) {
layout |= GrDrawTarget::StagePosAsTexCoordVertexLayoutBit(s);
}
}
// add 4 to hold the bounding rect
GrDrawTarget::AutoReleaseGeometry arg(target, layout, maxPts + 4, 0);
GrPoint* base = (GrPoint*) arg.vertices();
GrPoint* vert = base;
GrPoint* subpathBase = base;
GrAutoSTMalloc<8, uint16_t> subpathVertCount(subpathCnt);
// TODO: use primitve restart if available rather than multiple draws
GrPrimitiveType type;
int passCount = 0;
const GrStencilSettings* passes[3];
GrDrawTarget::DrawFace drawFace[3];
bool reverse = false;
bool lastPassIsBounds;
if (kHairLine_PathFill == fill) {
type = kLineStrip_PrimitiveType;
passCount = 1;
if (stencilOnly) {
passes[0] = &gDirectToStencil;
} else {
passes[0] = NULL;
}
lastPassIsBounds = false;
drawFace[0] = GrDrawTarget::kBoth_DrawFace;
} else {
type = kTriangleFan_PrimitiveType;
if (single_pass_path(*target, path, fill)) {
passCount = 1;
if (stencilOnly) {
passes[0] = &gDirectToStencil;
} else {
passes[0] = NULL;
}
drawFace[0] = GrDrawTarget::kBoth_DrawFace;
lastPassIsBounds = false;
} else {
switch (fill) {
case kInverseEvenOdd_PathFill:
reverse = true;
// fallthrough
case kEvenOdd_PathFill:
passes[0] = &gEOStencilPass;
if (stencilOnly) {
passCount = 1;
lastPassIsBounds = false;
} else {
passCount = 2;
lastPassIsBounds = true;
if (reverse) {
passes[1] = &gInvEOColorPass;
} else {
passes[1] = &gEOColorPass;
}
}
drawFace[0] = drawFace[1] = GrDrawTarget::kBoth_DrawFace;
break;
case kInverseWinding_PathFill:
reverse = true;
// fallthrough
case kWinding_PathFill:
if (fSeparateStencil) {
if (fStencilWrapOps) {
passes[0] = &gWindStencilSeparateWithWrap;
} else {
passes[0] = &gWindStencilSeparateNoWrap;
}
passCount = 2;
drawFace[0] = GrDrawTarget::kBoth_DrawFace;
} else {
if (fStencilWrapOps) {
passes[0] = &gWindSingleStencilWithWrapInc;
passes[1] = &gWindSingleStencilWithWrapDec;
} else {
passes[0] = &gWindSingleStencilNoWrapInc;
passes[1] = &gWindSingleStencilNoWrapDec;
}
// which is cw and which is ccw is arbitrary.
drawFace[0] = GrDrawTarget::kCW_DrawFace;
drawFace[1] = GrDrawTarget::kCCW_DrawFace;
passCount = 3;
}
if (stencilOnly) {
lastPassIsBounds = false;
--passCount;
} else {
lastPassIsBounds = true;
drawFace[passCount-1] = GrDrawTarget::kBoth_DrawFace;
if (reverse) {
passes[passCount-1] = &gInvWindColorPass;
} else {
passes[passCount-1] = &gWindColorPass;
}
}
break;
default:
GrAssert(!"Unknown path fill!");
return;
}
}
}
GrPoint pts[4];
bool first = true;
int subpath = 0;
SkPath::Iter iter(path, false);
for (;;) {
GrPathCmd cmd = (GrPathCmd)iter.next(pts);
switch (cmd) {
case kMove_PathCmd:
if (!first) {
subpathVertCount[subpath] = vert-subpathBase;
subpathBase = vert;
++subpath;
}
*vert = pts[0];
vert++;
break;
case kLine_PathCmd:
*vert = pts[1];
vert++;
break;
case kQuadratic_PathCmd: {
GrPathUtils::generateQuadraticPoints(pts[0], pts[1], pts[2],
tolSqd, &vert,
GrPathUtils::quadraticPointCount(pts, tol));
break;
}
case kCubic_PathCmd: {
GrPathUtils::generateCubicPoints(pts[0], pts[1], pts[2], pts[3],
tolSqd, &vert,
GrPathUtils::cubicPointCount(pts, tol));
break;
}
case kClose_PathCmd:
break;
case kEnd_PathCmd:
subpathVertCount[subpath] = vert-subpathBase;
++subpath; // this could be only in debug
goto FINISHED;
}
first = false;
}
FINISHED:
GrAssert(subpath == subpathCnt);
GrAssert((vert - base) <= maxPts);
if (translate) {
int count = vert - base;
for (int i = 0; i < count; i++) {
base[i].offset(translate->fX, translate->fY);
}
}
// if we're stenciling we will follow with a pass that draws
// a bounding rect to set the color. We're stenciling when
// passCount > 1.
const int& boundVertexStart = maxPts;
GrPoint* boundsVerts = base + boundVertexStart;
if (lastPassIsBounds) {
GrRect bounds;
if (reverse) {
GrAssert(NULL != target->getRenderTarget());
// draw over the whole world.
bounds.setLTRB(0, 0,
GrIntToScalar(target->getRenderTarget()->width()),
GrIntToScalar(target->getRenderTarget()->height()));
GrMatrix vmi;
if (target->getViewInverse(&vmi)) {
vmi.mapRect(&bounds);
}
} else {
bounds.setBounds((GrPoint*)base, vert - base);
}
boundsVerts[0].setRectFan(bounds.fLeft, bounds.fTop, bounds.fRight,
bounds.fBottom);
}
for (int p = 0; p < passCount; ++p) {
target->setDrawFace(drawFace[p]);
if (NULL != passes[p]) {
target->setStencil(*passes[p]);
}
if (lastPassIsBounds && (p == passCount-1)) {
if (!colorWritesWereDisabled) {
target->disableState(GrDrawTarget::kNoColorWrites_StateBit);
}
target->drawNonIndexed(kTriangleFan_PrimitiveType,
boundVertexStart, 4);
} else {
if (passCount > 1) {
target->enableState(GrDrawTarget::kNoColorWrites_StateBit);
}
int baseVertex = 0;
for (int sp = 0; sp < subpathCnt; ++sp) {
target->drawNonIndexed(type,
baseVertex,
subpathVertCount[sp]);
baseVertex += subpathVertCount[sp];
}
}
}
}
long double asr(long double a, long double b, long double eps) {
return asr(a, b, eps, simpson(a, b));
}
long double asr(long double a, long double b, long double eps, long double A) {
long double c = a + (b - a) / 2;
long double L = simpson(a, c), R = simpson(c, b);
if (fabs(L + R - A) < 15 * eps) return L + R + (L + R - A) / 15.;
return asr(a, c, eps / 2, L) + asr(c, b, eps / 2, R);
}
bool GrDefaultPathRenderer::internalDrawPath(const SkPath& path,
const SkStrokeRec& origStroke,
GrDrawTarget* target,
bool stencilOnly) {
SkMatrix viewM = target->getDrawState().getViewMatrix();
SkTCopyOnFirstWrite<SkStrokeRec> stroke(origStroke);
SkScalar hairlineCoverage;
if (IsStrokeHairlineOrEquivalent(*stroke, target->getDrawState().getViewMatrix(),
&hairlineCoverage)) {
uint8_t newCoverage = SkScalarRoundToInt(hairlineCoverage *
target->getDrawState().getCoverage());
target->drawState()->setCoverage(newCoverage);
if (!stroke->isHairlineStyle()) {
stroke.writable()->setHairlineStyle();
}
}
SkScalar tol = SK_Scalar1;
tol = GrPathUtils::scaleToleranceToSrc(tol, viewM, path.getBounds());
int vertexCnt;
int indexCnt;
GrPrimitiveType primType;
GrDrawTarget::AutoReleaseGeometry arg;
if (!this->createGeom(path,
*stroke,
tol,
target,
&primType,
&vertexCnt,
&indexCnt,
&arg)) {
return false;
}
SkASSERT(NULL != target);
GrDrawTarget::AutoStateRestore asr(target, GrDrawTarget::kPreserve_ASRInit);
GrDrawState* drawState = target->drawState();
bool colorWritesWereDisabled = drawState->isColorWriteDisabled();
// face culling doesn't make sense here
SkASSERT(GrDrawState::kBoth_DrawFace == drawState->getDrawFace());
int passCount = 0;
const GrStencilSettings* passes[3];
GrDrawState::DrawFace drawFace[3];
bool reverse = false;
bool lastPassIsBounds;
if (stroke->isHairlineStyle()) {
passCount = 1;
if (stencilOnly) {
passes[0] = &gDirectToStencil;
} else {
passes[0] = NULL;
}
lastPassIsBounds = false;
drawFace[0] = GrDrawState::kBoth_DrawFace;
} else {
if (single_pass_path(path, *stroke)) {
passCount = 1;
if (stencilOnly) {
passes[0] = &gDirectToStencil;
} else {
passes[0] = NULL;
}
drawFace[0] = GrDrawState::kBoth_DrawFace;
lastPassIsBounds = false;
} else {
switch (path.getFillType()) {
case SkPath::kInverseEvenOdd_FillType:
reverse = true;
// fallthrough
case SkPath::kEvenOdd_FillType:
passes[0] = &gEOStencilPass;
if (stencilOnly) {
passCount = 1;
lastPassIsBounds = false;
} else {
passCount = 2;
lastPassIsBounds = true;
if (reverse) {
passes[1] = &gInvEOColorPass;
} else {
passes[1] = &gEOColorPass;
}
}
drawFace[0] = drawFace[1] = GrDrawState::kBoth_DrawFace;
break;
case SkPath::kInverseWinding_FillType:
reverse = true;
// fallthrough
case SkPath::kWinding_FillType:
if (fSeparateStencil) {
if (fStencilWrapOps) {
passes[0] = &gWindStencilSeparateWithWrap;
} else {
passes[0] = &gWindStencilSeparateNoWrap;
}
passCount = 2;
drawFace[0] = GrDrawState::kBoth_DrawFace;
} else {
if (fStencilWrapOps) {
passes[0] = &gWindSingleStencilWithWrapInc;
passes[1] = &gWindSingleStencilWithWrapDec;
} else {
passes[0] = &gWindSingleStencilNoWrapInc;
passes[1] = &gWindSingleStencilNoWrapDec;
}
// which is cw and which is ccw is arbitrary.
drawFace[0] = GrDrawState::kCW_DrawFace;
drawFace[1] = GrDrawState::kCCW_DrawFace;
passCount = 3;
}
if (stencilOnly) {
lastPassIsBounds = false;
--passCount;
} else {
lastPassIsBounds = true;
drawFace[passCount-1] = GrDrawState::kBoth_DrawFace;
if (reverse) {
passes[passCount-1] = &gInvWindColorPass;
} else {
passes[passCount-1] = &gWindColorPass;
}
}
break;
default:
SkDEBUGFAIL("Unknown path fFill!");
return false;
}
}
}
SkRect devBounds;
GetPathDevBounds(path, drawState->getRenderTarget(), viewM, &devBounds);
for (int p = 0; p < passCount; ++p) {
drawState->setDrawFace(drawFace[p]);
if (NULL != passes[p]) {
*drawState->stencil() = *passes[p];
}
if (lastPassIsBounds && (p == passCount-1)) {
if (!colorWritesWereDisabled) {
drawState->disableState(GrDrawState::kNoColorWrites_StateBit);
}
SkRect bounds;
GrDrawState::AutoViewMatrixRestore avmr;
if (reverse) {
SkASSERT(NULL != drawState->getRenderTarget());
// draw over the dev bounds (which will be the whole dst surface for inv fill).
bounds = devBounds;
SkMatrix vmi;
// mapRect through persp matrix may not be correct
if (!drawState->getViewMatrix().hasPerspective() &&
drawState->getViewInverse(&vmi)) {
vmi.mapRect(&bounds);
} else {
avmr.setIdentity(drawState);
}
} else {
bounds = path.getBounds();
}
GrDrawTarget::AutoGeometryAndStatePush agasp(target, GrDrawTarget::kPreserve_ASRInit);
target->drawSimpleRect(bounds, NULL);
} else {
if (passCount > 1) {
drawState->enableState(GrDrawState::kNoColorWrites_StateBit);
}
if (indexCnt) {
target->drawIndexed(primType, 0, 0,
vertexCnt, indexCnt, &devBounds);
} else {
target->drawNonIndexed(primType, 0, vertexCnt, &devBounds);
}
}
}
return true;
}