double Rectangle::intersect(Vector rayVec, Camera camera) const {
Position vecPos = camera.pos;
this->applyTransformations(vecPos, rayVec);
Vector normal(-this->width, 0, this->height);
Vector objPos(pos.x, pos.y, pos.z);
Vector camPos(vecPos.x, vecPos.y, vecPos.z);
Vector B(this->width, 0, this->height);
double r, d, n;
d = normal.dot(rayVec);
n = normal.dot(objPos) - normal.dot(camPos);
if (d == 0)
return -1;
r = n / d;
if (r < 0)
return -1;
return r;
Position inter;
inter.x = vecPos.x + r * rayVec.x;
inter.y = vecPos.y + r * rayVec.y;
inter.z = vecPos.z + r * rayVec.z;
Vector interVec(pos.x - inter.x, pos.y - inter.y, pos.z - inter.z);
interVec.makeUnit();
B.makeUnit();
double p = interVec.dot(B);
// std::cout << p << "\n";
if (p >= -0.000001 && p <= 0.000001)
return r;
return -1;
}
// ######################################################################
// Prompt the user to return the object back to the tray place an object
void promptReturnObjectToTray(SceneSetup const & setup, int objIdx)
{
LINFO("Placing back object %d into its tray. Follow instructions in User Interactive window...", objIdx);
const SceneSetup::Object &obj = setup.objects[objIdx];
Image< PixRGB<byte> > trayImg = Raster::ReadRGB(setup.setupPath + "/" + obj.trayFileName);
trayImg = rescale(trayImg, trayImg.getDims()/2);
Point2D<int> objPos(obj.trayX*trayImg.getWidth(), obj.trayY*trayImg.getHeight());
drawCircle(trayImg, objPos, trayImg.getWidth()/12, PixRGB<byte>(255, 0, 0), 2);
drawCross(trayImg, objPos, PixRGB<byte>(255, 0, 0), trayImg.getWidth()/8, 2);
std::ostringstream ss;
ss << "Place back Obj(" <<
"row " << obj.trayRow <<
", col " << obj.trayColumn <<
") into tray " << obj.trayName <<
" and ENTER";
writeText(trayImg, Point2D<int>(0, 0), ss.str().c_str());
userInteractiveWindow->drawImage(trayImg, 0, 0, true);
// eat all previous mouse clicks and key presses, just in case:
while (userInteractiveWindow->getLastMouseClick() != Point2D<int>(-1, -1)) { }
while (userInteractiveWindow->getLastKeyPress() != -1) { }
// wait for ENTER:
while (userInteractiveWindow->getLastKeyPress() != 36) usleep(100000);
LINFO("Done placing back object %d into its tray.", objIdx);
}
void LocalMap::generate(weak_ptr<AStarSearch> pf, weak_ptr<EventService> ev) {
_events = ev;
_pFinder = pf;
_actor = make_shared<Actor>(_res->getObjectID("actor"), Point(54, 54), 24);
srand((unsigned)time(NULL));
_rowmax = TD_MAP_ROWS;
_colmax = TD_MAP_COLS;
_xmax = _colmax * TILE_MASK;
for (unsigned row = 0; row < _rowmax; row++){
for (unsigned col = 0; col < _colmax; col++){
_tiles.push_back(MapTile(8 + (rand() % 6)));
}
}
unsigned pRow = 0, pCol = 0;
pRow += rand() % 7;
while (pRow < _rowmax){
pCol += rand() % 15;
while (pCol < _colmax){
_tiles[pRow * _colmax + pCol].setType(47);
pCol += rand() % 15;
}
pRow += rand() % 7;
pCol = 0;
}
// tree generation (sprite 79)
int objMaxDensity = 10; // 10% max
int randOffset = 0;
//_objects.reserve(_rowmax * _colmax / 100);
_objects.setObject(make_shared<MapObject>(_res->getObjectID("hut"), Point(150, 150)));
_objects.setObject(make_shared<MapObject>(_res->getObjectID("hide"), Point(80, 90)));
_objects.setObject(make_shared<SmartActor>(_res->getObjectID("actor"), Point(110, 110), 24, _events));
int reetID = _res->getObjectID("reet");
for (unsigned row = 0; row < _rowmax; row += 10){
for (unsigned col = 0; col < _colmax; col += 10){
for (int k = 0; k < objMaxDensity; k++){
randOffset = rand() % 100;
Point objPos((col + (randOffset % 10)) * TILE_MASK, (row + (randOffset / 10)) * TILE_MASK);
cout << "OBJ: " << col + (randOffset % 10) << "," << row + (randOffset / 10);
cout << " >> " << objPos._x << "," << objPos._y << " Prio: " << objPos.toRenderPriority() << endl;
_objects.setObject(make_shared<MapObject>(reetID, objPos));
}
}
}
_ready = true;
}
OCRenderTreeNode *
OcclusionCullingTreeBuilder::createNode(RenderActionBase *pAction,
RenderPartitionBase *pPart,
DrawFunctor &drawFunc,
State *pState,
StateOverride *pStateOverride)
{
RenderPartition *pRPart = dynamic_cast<RenderPartition *>(pPart);
OCRenderTreeNode *pNode = _pNodePool->create<OCRenderTreeNode>(_uiNodePoolIdx);
Node *actNode = _ract->getActNode();
const BoxVolume &objVol = actNode->getVolume();
#ifndef OSG_ENABLE_DOUBLE_MATRIX_STACK
Pnt3f objPos(TypeTraits<Real32>::getMax(),
TypeTraits<Real32>::getMax(),
TypeTraits<Real32>::getMax() );
Pnt3f volVert[8];
#else
Pnt3d objPos(TypeTraits<Real64>::getMax(),
TypeTraits<Real64>::getMax(),
TypeTraits<Real64>::getMax() );
Pnt3f volVert[8];
#endif
Pnt3f volMin;
Pnt3f volMax;
objVol.getBounds(volMin, volMax);
volVert[0].setValues(volMin[0], volMin[1], volMin[2]);
volVert[1].setValues(volMax[0], volMin[1], volMin[2]);
volVert[2].setValues(volMin[0], volMax[1], volMin[2]);
volVert[3].setValues(volMin[0], volMin[1], volMax[2]);
volVert[4].setValues(volMax[0], volMax[1], volMin[2]);
volVert[5].setValues(volMax[0], volMin[1], volMax[2]);
volVert[6].setValues(volMin[0], volMax[1], volMax[2]);
volVert[7].setValues(volMax[0], volMax[1], volMax[2]);
for(UInt32 i = 0; i < 8; ++i)
{
pRPart->getModelViewMatrix().mult(volVert[i], volVert[i]);
if(volVert[i][2] < objPos[2])
objPos = volVert[i];
}
pNode->setScalar( (-objPos[2] - pRPart->getNear()) /
(pRPart->getFar() - pRPart->getNear()) );
pNode->setFunctor (drawFunc );
pNode->setState (pState );
pNode->setStateOverride(pStateOverride );
pNode->setLightState (pRPart->getLightState());
pNode->setNode (_ract->getActNode() );
pNode->setVolume (objVol );
#ifndef OSG_ENABLE_DOUBLE_MATRIX_STACK
pNode->setMatrixStore (pRPart->getMatrixStackTop());
#else
Matrix4f tmpMat;
tmpMat.convertFrom(pRPart->getModelViewMatrix());
MatrixStore tmpMS (pRPart->getMatrixStackTop().first, tmpMat);
pNode->setMatrixStore(tmpMS);
#endif
return pNode;
}
// ######################################################################
// Prompt the user to place an object from a tray onto the table, and
// then present them with an interface to outline that object
std::vector< Point2D<int> > promptPlaceObjectOnScene(SceneSetup const & setup, int objIdx)
{
LINFO("Place object %d onto table. Follow instructions in User Interactive window...", objIdx);
const SceneSetup::Object &obj = setup.objects[objIdx];
Image< PixRGB<byte> > trayImg = Raster::ReadRGB(setup.setupPath + "/" + obj.trayFileName);
trayImg = rescale(trayImg, trayImg.getDims()/2);
Point2D<int> objPos(obj.trayX*trayImg.getWidth(), obj.trayY*trayImg.getHeight());
drawCircle(trayImg, objPos, trayImg.getWidth()/12, PixRGB<byte>(255, 0, 0), 2);
drawCross(trayImg, objPos, PixRGB<byte>(255, 0, 0), trayImg.getWidth()/8, 2);
std::ostringstream ss;
ss << "Place Tray " << obj.trayName <<
" (row " << obj.trayRow <<
", col " << obj.trayColumn <<
") on table and ENTER";
writeText(trayImg, Point2D<int>(0, 0), ss.str().c_str());
userInteractiveWindow->drawImage(trayImg, 0, 0, true);
while(userInteractiveWindow->getLastKeyPress() != 36) usleep(100000);
pthread_mutex_lock(&imgMutex);
Image<PixRGB<byte> > cameraImg = inputImage;
pthread_mutex_unlock(&imgMutex);
userInteractiveWindow->drawImage(cameraImg, 0, 0, true);
std::vector< Point2D<int> > poly;
std::string msg = "Outline new object using 4 points. ESCAPE to undo point. SPACE to refresh image. ENTER when finished.";
// eat all previous mouse clicks and key presses, just in case:
while (userInteractiveWindow->getLastMouseClick() != Point2D<int>(-1, -1)) { }
while (userInteractiveWindow->getLastKeyPress() != -1) { }
bool finished = false;
while(!finished) {
Point2D<int> mouseClick = userInteractiveWindow->getLastMouseClick();
if(mouseClick != Point2D<int>(-1, -1) && poly.size() < 4)
poly.push_back(mouseClick);
int lastKeyPress = userInteractiveWindow->getLastKeyPress();
switch(lastKeyPress) {
case -1: // No Key
break;
case 9: // ESCAPE
if(poly.size()) poly.erase(poly.end()-1);
break;
case 36: // ENTER
if(poly.size() == 4) finished = true;
break;
case 65: // SPACE
pthread_mutex_lock(&imgMutex);
cameraImg = inputImage;
pthread_mutex_unlock(&imgMutex);
userInteractiveWindow->drawImage(cameraImg, 0, 0, true);
break;
default:
LINFO("Key Pressed: %d", lastKeyPress);
break;
}
Image< PixRGB<byte> > dispImage = cameraImg;
for(size_t i=0; i<poly.size(); ++i) drawCircle(dispImage, poly[i], 5, PixRGB<byte>(255, 0, 0), 3);
drawOutlinedPolygon(dispImage, poly, PixRGB<byte>(0, 0, 255), Point2D<int>(0,0),0,1,0,0,3);
writeText(dispImage, Point2D<int>(0,0), msg.c_str());
userInteractiveWindow->drawImage(dispImage, 0, 0, true);
usleep(100000);
}
LINFO("Done placing object %d onto table.", objIdx);
return poly;
}
