void ConstraintVisualizer::RenderPrismaticBoxes (IVRenderInterface* pRenderer, const hkvVec3& vStartPos, const hkvVec3& vEndPos)
{
const VColorRef colorIB(0, 0, 200);
const VColorRef colorOB(180, 180, 180);
// Calculate the look at matrix
hkvMat3 lookAtMat (hkvNoInitialization);
lookAtMat.setLookInDirectionMatrix (vEndPos - vStartPos);
// Compute box widths, so that they work for all world scales
float fVecLen = (vStartPos - vEndPos).getLength();
const float fWidthIB = fVecLen / 100.0f;
const float fWidthOB = fWidthIB * 2.0f;
// Setup the two boxes
hkvAlignedBBox bBoxInner (hkvVec3 (0, fWidthIB, fWidthIB), hkvVec3 (fVecLen/2, -fWidthIB, -fWidthIB));
hkvAlignedBBox bBoxOuter (hkvVec3 (fVecLen/2, fWidthOB, fWidthOB), hkvVec3 (fVecLen, -fWidthOB, -fWidthOB));
// Render the two bounding boxes
VSimpleRenderState_t state(VIS_TRANSP_ALPHA, RENDERSTATEFLAG_FRONTFACE);
hkvVec3 corners[8];
const hkvMat4 ThisIsALookAtMatrixYARLY (lookAtMat, vStartPos);
bBoxInner.getCorners(corners);
ThisIsALookAtMatrixYARLY.transformPositions(corners, 8);
pRenderer->RenderBox(corners,sizeof(hkvVec3),colorIB,state);
bBoxOuter.getCorners(corners);
ThisIsALookAtMatrixYARLY.transformPositions(corners, 8);
pRenderer->RenderBox(corners,sizeof(hkvVec3),colorOB,state);
}
void renderer::findBest(Camera &camera,Mesh* mesh, particle camPartikel, Shader* _likelihood, Shader* _meshProgram, glm::mat4 m, glm::mat4 v, glm::mat4 p, GLuint mLoc,GLuint vLoc,GLuint pLoc, GLuint handle, glm::vec3 &newCenter, glm::vec3 &newLookAt){
max = 0.0;
cv::Mat_<float> centerMat = camPartikel.getParticleCenterM();
cv::Mat_<float> lookAtMat = camPartikel.getParticleLookAtM();
//querys to count the pixels
const int size = 400;
GLuint queryArray[size];
glGenQueries(size, queryArray);
float meshsRelValue[size] = {0.0};
//bind texture with edgepicture
texLoc = glGetUniformLocation(handle,"tex");
glActiveTexture(GL_TEXTURE0);
glUniform1i(texLoc,0);
glBindTexture(GL_TEXTURE_2D,handle);
//bind likelihoodshader
_likelihood->bind();
m = mesh->computeModelMatrix();
glUniformMatrix4fv(mLoc,1,GL_FALSE,glm::value_ptr(m));
glUniformMatrix4fv(pLoc,1,GL_FALSE,glm::value_ptr(p));
//funktioniert nicht
//glm::mat4 * view = new glm::mat4[size];
//view = camPartikel.getViewArray();
for (int i = 0; i < centerMat.rows; i++) {
cameraPos.x = centerMat(i,0);
cameraPos.y = centerMat(i,1);
cameraPos.z = centerMat(i,2);
camera.setCenter(cameraPos);
for (int j = 0; j < centerMat.rows; j++) {
cameraLookAt.x = lookAtMat(i * centerMat.rows + j, 0);
cameraLookAt.y = lookAtMat(i * centerMat.rows + j, 1);
cameraLookAt.z = lookAtMat(i * centerMat.rows + j, 2);
camera.setLookAt(cameraLookAt);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
v = camera.getViewMatrix();
glUniformMatrix4fv(vLoc,1,GL_FALSE,glm::value_ptr(v));
glBeginQuery(GL_SAMPLES_PASSED, queryArray[i]);
if(mesh != nullptr)
mesh->draw(&cameraPos);
glEndQuery(GL_SAMPLES_PASSED);
glGetQueryObjectuiv(queryArray[i], GL_QUERY_RESULT, &PixelCountSet);
meshsRelValue[i * centerMat.rows + j] = PixelCountSet;
//cout << "PixelCount für " << i * centerMat.rows + j << ": " << PixelCountSet << endl;
}
}
glBindTexture(GL_TEXTURE_2D,0);
_likelihood->unbind();
//bind meshshader
_meshProgram->bind();
for (int i = 0; i < centerMat.rows; i++) {
cameraPos.x = centerMat(i,0);
cameraPos.y = centerMat(i,1);
cameraPos.z = centerMat(i,2);
camera.setCenter(cameraPos);
for (int j = 0; j < centerMat.rows; j++) {
cameraLookAt.x = lookAtMat(i * centerMat.rows + j, 0);
cameraLookAt.y = lookAtMat(i * centerMat.rows + j, 1);
cameraLookAt.z = lookAtMat(i * centerMat.rows + j, 2);
camera.setLookAt(cameraLookAt);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
v = camera.getViewMatrix();
glUniformMatrix4fv(vLoc,1,GL_FALSE,glm::value_ptr(v));
glBeginQuery(GL_SAMPLES_PASSED, queryArray[i]);
if(mesh != nullptr)
mesh->draw(&cameraPos);
glEndQuery(GL_SAMPLES_PASSED);
glGetQueryObjectuiv(queryArray[i], GL_QUERY_RESULT, &PixelCountSet);
meshsRelValue[i * centerMat.rows + j] /= PixelCountSet;
if(meshsRelValue[i * centerMat.rows + j] > max){
max = meshsRelValue[i * centerMat.rows + j];
newCenter.x = centerMat(i,0);
newCenter.y = centerMat(i,1);
newCenter.z = centerMat(i,2);
newLookAt.x = lookAtMat(i * centerMat.rows + j, 0);
newLookAt.y = lookAtMat(i * centerMat.rows + j, 1);
newLookAt.z = lookAtMat(i * centerMat.rows + j, 2);
}
//cout << "PixelCount für " << i * centerMat.rows + j << ": " << meshsRelValue[i * centerMat.rows + j] << endl;
}
}
_meshProgram->unbind();
glDeleteQueries(size, queryArray);
//set camerapose of the best new position
camera.setCenter(newCenter);
camera.setLookAt(newLookAt);
}
