int main(int argc, const char *argv[]) try
{
std::vector<RigidBody> rbs;
for (auto const &b : bodysizes)
{
auto verts = genboxverts(b);
auto tris = calchull(verts, 8);
rbs.push_back(RigidBody({ Shape(verts, tris) }, float3(0, 0, 0)));
}
rbscalemass(&rbs[0], 5.0f); // make torso heavier than limb bones
rbs[0].position.z = 1.0f; // lift a meter off the ground.
DXWin mywin("Joint Drive - powered rag doll model", { 800,600 });
std::vector<Mesh> meshes;
for (auto &rb : rbs)
{
meshes.push_back(MeshSmoothish(rb.shapes[0].verts, rb.shapes[0].tris)); // 1 shape each is known
rb.damping = 0.8f; //rb.gravscale = 0;
}
for (auto &joint : joints)
{
rbs[joint.b0].ignore.push_back(&rbs[joint.b1]);
rbs[joint.b1].ignore.push_back(&rbs[joint.b0]);
rbs[joint.b1].position = rbs[joint.b0].pose() * joint.p0 - qrot(rbs[joint.b1].orientation,joint.p1);
}
WingMesh ground_wm = WingMeshBox({ -5, -5, -2.0f }, { 5, 5, -1.0f });
auto ground = MeshFlatShadeTex(ground_wm.verts, WingMeshTris(ground_wm));
ground.hack = { 0.25f, 0.75f, 0.25f, 1 };
Pose camera = { { 0, -8, 0 }, normalize(float4(0.9f, 0, 0, 1)) }; // where we view the rendered scene from.
float time = 0; // our global clock, used to generate the circular animation for upper limbs to follow
float torquelimit = 38.0f; // how much torque we let each joint apply each frame
while (mywin.WindowUp())
{
time += 0.06f;
std::vector<LimitAngular> angulars;
std::vector<LimitLinear> linears;
for (auto const &joint : joints)
{
Append(linears, ConstrainPositionNailed(&rbs[joint.b0], joint.p0, &rbs[joint.b1], joint.p1));
Append(angulars, ConstrainAngularDrive(&rbs[joint.b0], &rbs[joint.b1], (float4(0, joint.a*cos(time), joint.a*sin(time), sqrt(1.0f - joint.a*joint.a))), torquelimit));
}
PhysicsUpdate(Addresses<RigidBody>(rbs), linears, angulars, { &ground_wm.verts });
for (unsigned int i = 0; i < rbs.size(); i++)
meshes[i].pose = rbs[i].pose();
mywin.RenderScene(camera, Append(Addresses(meshes), std::vector<Mesh*>({ &ground })));
}
return 0;
}
catch (std::exception e)
{
MessageBoxA(GetActiveWindow(), e.what(), "FAIL", 0);
return -1;
}
bool HullLibrary::ComputeHull(unsigned int vcount,const btVector3 *vertices,PHullResult &result,unsigned int vlimit)
{
int tris_count;
int ret = calchull( (btVector3 *) vertices, (int) vcount, result.m_Indices, tris_count, static_cast<int>(vlimit) );
if(!ret) return false;
result.mIndexCount = (unsigned int) (tris_count*3);
result.mFaceCount = (unsigned int) tris_count;
result.mVertices = (btVector3*) vertices;
result.mVcount = (unsigned int) vcount;
return true;
}
int main(int argc, const char *argv[]) try
{
std::vector<Joint> joints;
std::vector<RigidBody> rbs;
std::map<std::string,unsigned int> rbindex;
auto xml = XMLParseFile("./default_hand.chr"); // replace string with whatever model you want to test. uses xml variation of John Ratcliff's easy mesh (ezm) file format.
auto const &skx = xml.child("model").child("skeleton");
for (auto const &b : skx.children)
{
rbindex[b.attribute("name")] = rbs.size();
auto verts = ArrayImport<float3>(b.child("verts").body);
auto tris = calchull(verts, verts.size());
float3 pos = StringTo<float3>(b.attribute("position"));
int parent = (b.hasAttribute("parent")) ? (int)rbindex[b.attribute("parent")] : -1;
rbs.push_back(RigidBody({ Shape(verts,tris) }, pos + ((parent>=0)?rbs[parent].position-rbs[parent].com:float3(0,0,0))));
if (parent>=0)
joints.push_back({ parent, (int)rbs.size() - 1, pos, float3(0,0,0), StringTo<float3>(b.child("jointlimitmin").body), StringTo<float3>(b.child("jointlimitmax").body) });
}
rbscalemass(&rbs[0], 3.0f);
rbscalemass(&rbs[1], 5.0f);
DXWin mywin("DX testing articulated rigged model", { 800,600 });
std::vector<Mesh> meshes;
for (auto &rb : rbs)
{
meshes.push_back(MeshSmoothish(rb.shapes[0].verts, rb.shapes[0].tris)); // 1 shape each is known
rb.damping = 0.8f;
//rb.gravscale = 0;
}
for (auto &joint : joints)
{
rbs[joint.rbi0].ignore.push_back(&rbs[joint.rbi1]);
rbs[joint.rbi1].ignore.push_back(&rbs[joint.rbi0]);
joint.p0 -= rbs[joint.rbi0].com;
joint.p1 -= rbs[joint.rbi1].com;
}
for (auto &ja : joints) for (auto &jb : joints) if (ja.rbi0 == jb.rbi0 && ja.rbi1 != jb.rbi1) // ignore siblings
{
rbs[ja.rbi1].ignore.push_back(&rbs[jb.rbi1]);
rbs[jb.rbi1].ignore.push_back(&rbs[ja.rbi1]);
}
for (auto &ja : joints) for (auto &jb : joints) if (ja.rbi1 == jb.rbi0 ) // ignore grandparents
{
rbs[ja.rbi0].ignore.push_back(&rbs[jb.rbi1]);
rbs[jb.rbi1].ignore.push_back(&rbs[ja.rbi0]);
}
std::vector<float3> groundpoints = { { -5.0f, -5.0f, -5.0f }, { 5.0f, -5.0f, -5.0f }, { 5.0f, 10.0f, -5.0f }, { -5.0f, 10.0f, -5.0f }, { -5.0f, -5.0f, -10.0f }, { 5.0f, -5.0f, -10.0f }, { 5.0f, 10.0f, -10.0f }, { -5.0f, 10.0f, -10.0f } };
Mesh ground = MeshSmoothish(groundpoints, { { 0, 1, 2 }, { 2, 3,0 } });
ground.hack = { 1, 1, 0 ,1};
WingMesh cube_wm = WingMeshCube(0.025f);
auto mesh_cube = MeshFlatShadeTex(cube_wm.verts, WingMeshTris(cube_wm));
mesh_cube.hack = { 0, 1, 0, 1 };
Pose camera = { { 0, -10, 0 }, normalize(float4(1, 0, 0, 1)) };
RigidBody *selected = NULL;
float3 spoint=camera * float3(0,0,-10);
float3 rbpoint;
struct Pin{ float3 w; RigidBody* rb; float3 p; };
std::vector<Pin> pins;
mywin.keyboardfunc = [&](int key, int, int)
{
if (key == 'g') for (auto &rb : rbs) rb.gravscale = 1.0f - rb.gravscale;
if (key == 'p' && selected)
Append<Pin>(pins, { spoint, selected, rbpoint });
};
while (mywin.WindowUp())
{
float3 ray = qrot(camera.orientation, normalize(mywin.MouseVector));
if (!selected)
{
for (auto &rb : rbs)
{
float3 v1 = camera.position + ray*100.0f;
if (auto h=ConvexHitCheck(Planes(rb.shapes[0].verts, rb.shapes[0].tris),rb.pose(),camera.position,v1))
{
v1 = h.impact;
selected = &rb;
spoint = h.impact;
rbpoint = rb.pose().inverse()*h.impact;
}
}
}
spoint = camera.position + ray * length(spoint - camera.position)*powf(1.025f, (float)mywin.mousewheel);
mesh_cube.pose.position = spoint;
if (!mywin.MouseState)
selected = NULL;
std::vector<LimitAngular> angulars;
std::vector<LimitLinear> linears;
for (auto const &joint : joints)
{
Append(linears, ConstrainPositionNailed(&rbs[joint.rbi0], joint.p0, &rbs[joint.rbi1], joint.p1));
Append(angulars, ConstrainAngularRange(&rbs[joint.rbi0], &rbs[joint.rbi1], { 0, 0, 0, 1 }, joint.jointlimitmin, joint.jointlimitmax));
}
if (selected)
Append(linears, ConstrainPositionNailed(NULL, spoint, selected, rbpoint));
for(auto &p:pins)
Append(linears, ConstrainPositionNailed(NULL, p.w,p.rb,p.p));
PhysicsUpdate(Addresses(rbs), linears, angulars, { &groundpoints });
for (unsigned int i = 0; i < rbs.size(); i++)
{
meshes[i].pose = rbs[i].pose();
}
mywin.RenderScene(camera, Append(Addresses(meshes),std::vector<Mesh*>({ &ground, &mesh_cube })));
}
}
catch (std::exception e)
{
MessageBoxA(GetActiveWindow(), e.what(), "FAIL", 0);
return -1;
}
int main(int argc, char *argv[]) try
{
physics_driftmax = 0.0025f;
GLWin glwin("point cloud push interaction");
RSCam dcam;
dcam.Init((argc == 2) ? argv[1] : NULL);
Image<unsigned short> dimage(dcam.dcamera());
glwin.ViewAngle = dcam.fov().y;
float viewdist = 2.0f;
float yaw = 120;
int mousexold = 0;
Mesh mesh;
bool pause = false;
bool debuglines=false;
int center = 0;
bool chains = true;
bool usehull = false;
std::vector<RigidBody*> rigidbodies;
std::vector < std::pair<RigidBody*, RigidBody*>> links;
for (float x = -0.2f; x < 0.2f; x+= 0.07f)
for(float z: {0.350f})
for (float y = -0.2f; y <= 0.2f; y += 0.07f)
{
rigidbodies.push_back(new RigidBody({ AsShape(WingMeshDual(WingMeshCube(0.025f),0.028f)) }, { x,y,z }));
//rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(0.025f) ) }, { x,y,z }));
links.push_back({(y > -0.2f)?rigidbodies[rigidbodies.size() - 2]:NULL , rigidbodies.back()});
}
//rigidbodies.push_back(new RigidBody({ AsShape(WingMeshCube(0.05f)) }, { 0,0,0.50f }));
auto seesaw = new RigidBody({ AsShape(WingMeshBox({ 0.20f, 0.015f, 0.05f })) }, { 0,0,0.45f });
rigidbodies.push_back(seesaw);
glwin.keyboardfunc = [&](unsigned char key, int x, int y)->void
{
switch (std::tolower(key))
{
case 'q': case 27: exit(0); break; // 27 is ESC
case ' ': pause = !pause; break;
case 'c': chains = !chains; break;
case 'd': debuglines = !debuglines; break;
case 'h': usehull = !usehull; break;
case 'r': for (auto &rb : rigidbodies) { rb->angular_momentum = rb->linear_momentum = float3(0.0f);rb->pose() = { rb->position_start,rb->orientation_start }; } break;
default: std::cout << "unassigned key (" << (int)key << "): '" << key << "'\n"; break;
}
};
if (dcam.dev->supports_option(rs::option::r200_lr_auto_exposure_enabled))
dcam.dev->set_option(rs::option::r200_lr_auto_exposure_enabled, 1);
while (glwin.WindowUp())
{
if (glwin.MouseState)
{
yaw += glwin.mousepos.x - mousexold;
}
mousexold = glwin.mousepos.x;
viewdist *= powf(1.1f, (float)glwin.mousewheel);
if (!pause)
dimage = dcam.GetDepth();
glPushAttrib(GL_ALL_ATTRIB_BITS);
glViewport(0, 0, glwin.res.x, glwin.res.y);
glClearColor(0.1f, 0.1f, 0.15f, 1);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
gluPerspective(glwin.ViewAngle, (double)glwin.aspect_ratio(), 0.01f, 50.0f);
glMatrixMode(GL_MODELVIEW);
glPushMatrix();
gluLookAt(0, 0, viewdist, 0, 0, 0, 0, -1, 0);
glEnable(GL_DEPTH_TEST);
glTranslatef(0, 0, 0.35f);
glRotatef(yaw, 0, 1, 0);
glTranslatef(0, 0, -0.35f);
std::vector<float3> pts;
std::vector<float3> outliers;
std::vector<float3> vpts;
glDisable(GL_BLEND);
float2 wrange = { 0.20f,0.60f };
auto dp_image_c = Transform(dimage, [](unsigned short s) {return byte3((unsigned char)clamp(255 - s / 4, 0, 255)); });
drawimage(dp_image_c, { 0.78f,0.22f }, { 0.2f,-0.2f }, 3);
float depth_scale = (dcam.dev) ? dcam.dev->get_depth_scale() : 0.001f; // to put into meters // if file assume file is mm
for (auto p : rect_iteration(dimage.dim())) // p is int2 from 0,0 to w,h of dcam
{
float d = dimage.pixel(p) * depth_scale; // d is in meters, whereas depth[i] is in camera units mm for R200, .125mm for SR300 ivycam
if (p.x<5 || p.x> dimage.dim().x - 5 || p.y<5 || p.y>dimage.dim().y - 5) continue; // crop, seems to be lots of noise at the edges
if (d > 1.0f) // just too far
continue;
float3 v = dimage.cam.deprojectz(asfloat2(p), d);
if (d>wrange.x && d < wrange.y)
pts.push_back(v);
else
outliers.push_back(v);
}
vpts = ObtainVoxelPointCloud(pts, 0.0082f, 8);
std::vector<std::pair<float3, float3>> lines;
std::vector<std::pair<float3, float3>> glines;
if (1)// && pts.size())
{
std::vector<LimitLinear> linears;
std::vector<LimitAngular> angulars;
physics_gravity = { 0, (float) chains,0 }; // ugg y is down
if(!usehull) for(auto rb:rigidbodies)
{
if (!rb->shapes[0].planes.size())
rb->shapes[0].planes = Planes(rb->shapes[0].verts, rb->shapes[0].tris);
auto planes = Transform(rb->shapes[0].planes, [&](float4 p) { return rb->pose().TransformPlane(p);});
rb->gravscale = (float)chains;
float separation = FLT_MAX;
float3 pushpoint = float3(0, 0, 0); //
float4 pushplane;
for (auto p : vpts)
{
auto plane = mostabove(planes, p);
float sep;
if ((sep = dot(plane, float4(p, 1))) < separation)
{
pushpoint = p;
pushplane = plane;
separation = sep;
}
}
if (separation > 0.1f)
continue;
float3 closestpoint = ProjectOntoPlane(pushplane, pushpoint);
pushplane = float4({ -pushplane.xyz(), -dot(-pushplane.xyz(),pushpoint) });
linears.push_back(ConstrainAlongDirection(NULL, pushpoint, rb, rb->pose().inverse()*closestpoint, pushplane.xyz(), 0, 100.0f)); // FLT_MAX));
lines.push_back({ closestpoint,pushpoint });
auto cp=Separated(rb->shapes[0].verts, rb->position, rb->orientation, { pushpoint }, { 0,0,0 }, { 0,0,0,1 }, 1);
glines.push_back({ cp.p0w, cp.p1w });
}
Append(linears, ConstrainPositionNailed(NULL, seesaw->position_start, seesaw, { 0, 0, 0 }));
Append(angulars, ConstrainAngularRange(NULL, seesaw, { 0, 0, 0, 1 }, { 0, 0,-20 }, { 0, 0,20 }));
if (chains) for (auto link : links)
Append(linears, ConstrainPositionNailed(link.first,link.first? float3(0, 0.035f, 0) : link.second->position_start-float3(0, -0.035f, 0) , link.second, { 0,-0.035f,0 }));
if(!pause)
if(usehull && vpts.size()>5)
PhysicsUpdate(rigidbodies, linears, angulars, { &vpts });
else
PhysicsUpdate(rigidbodies, linears, angulars, std::vector<std::vector<float3>*>());
}
glColor3f(1, 1, 1);
glwirefrustumz(dcam.deprojectextents(), { 0.1f,1.0f }); // draw the camera frustum volume
glPushAttrib(GL_ALL_ATTRIB_BITS);
glPointSize(1);
glBegin(GL_POINTS);
glColor3f(0, 1, 0.5f);
for (auto p : pts)
glVertex3fv(p);
glColor3f(1, 0.15f, 0.15f);
for (auto p : outliers)
glVertex3fv(p);
glEnd();
glPointSize(3);
glBegin(GL_POINTS);
glColor3f(1, 1, 1);
for (auto p : vpts) // was: spts
glVertex3fv(p);
glEnd();
glPopAttrib();
if (debuglines)
{
glBegin(GL_LINES);
glColor3f(0, 1, 1);
if (0)for (auto line : lines)
glVertex3fv(line.first), glVertex3fv(line.second);
glColor3f(1, 1, 0);
for (auto line : glines)
glVertex3fv(line.first), glVertex3fv(line.second);
glEnd();
}
if (usehull && vpts.size() > 5)
{
auto tris = calchull(vpts, 0);
glBegin(GL_LINES);
glColor3f(1, 1, 1);
for (auto t : tris) for( int i : {0,1,1,2,2,0})
glVertex3fv(vpts[t[i]]);
glEnd();
}
if (chains)
{
glBegin(GL_LINES);
glColor3f(1, 0, 1);
for (auto link : links)
{
if(link.first)
glVertex3fv(link.first->pose()* float3(0, 0, 0)), glVertex3fv(link.first->pose()* float3(0, 0.035f, 0));
glVertex3fv(link.second->pose()* float3(0, 0, 0)) , glVertex3fv(link.second->pose()* float3(0, -0.035f, 0));
}
glEnd();
}
glPushAttrib(GL_ALL_ATTRIB_BITS);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_TEXTURE_2D);
glColor3f(0.5f, 0.5f, 0.5f);
for (auto &rb : rigidbodies)
rbdraw(rb);
glPopAttrib(); // Restore state
// Restore state
glPopMatrix(); //should be currently in modelview mode
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glPopAttrib();
glMatrixMode(GL_MODELVIEW);
glwin.PrintString({ 0,0 }, "esc to quit.");
glwin.PrintString({ 0,1 }, "[h] collision %s ",(usehull)?"hull":"points");
glwin.SwapBuffers();
}
return 0;
}
catch (const char *c)
{
MessageBox(GetActiveWindow(), c, "FAIL", 0);
}
catch (std::exception e)
{
MessageBox(GetActiveWindow(), e.what(), "FAIL", 0);
}
