TEST(TestNodeAAB, TestAABSimple) {
MockLoader mock;
auto node = std::make_shared<FTShaderNode<MockShader>>();
node->setSize(glm::vec3(34, 88, 22));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
EXPECT_EQ(node->getAABCenter(), glm::vec3(17, 44, 11));
EXPECT_EQ(node->getAABHalfExtents(), glm::vec3(17, 44, 11));
node->setPosition(glm::vec3(542, 2, 7));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
EXPECT_EQ(node->getAABCenter(), glm::vec3(17 + 542, 44 + 2, 11 + 7.0f));
EXPECT_EQ(node->getAABHalfExtents(), glm::vec3(17, 44, 11));
node->setScale(glm::vec3(5, 2, 7));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
EXPECT_EQ(node->getAABCenter(), glm::vec3(17*5 + 542, 44*2 + 2, 11*7 + 7.0f));
EXPECT_EQ(node->getAABHalfExtents(), glm::vec3(17*5, 44*2, 11*7));
auto quat = glm::angleAxis((float)M_PI_2, glm::vec3(0, 0, 1));
node->setRotationQuaternion(quat);
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
EXPECT_EQ(node->getAABCenter(), glm::vec3(542 - 44 * 2, 2+17 * 5, 11 * 7 + 7.0f));
EXPECT_EQ(node->getAABHalfExtents(), glm::vec3(44 * 2, 17 * 5, 11 * 7));
}
TEST(TestNodeAAB, TestAABAnchorPoint) {
MockLoader mock;
auto node = std::make_shared<FTShaderNode<MockShader>>();
node->setAnchorPoint(glm::vec3(0.3f, 0.5f, 0.7f));
node->setSize(glm::vec3(34, 88, 22));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
expectVectorEqual(node->getAABCenter(), glm::vec3(17 - 0.3f * 34, 0, 11 - 0.7f * 22));
expectVectorEqual(node->getAABHalfExtents(), glm::vec3(17, 44, 11));
node->setPosition(glm::vec3(542, 2, 7));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
expectVectorEqual(node->getAABCenter(), glm::vec3(17 - 0.3f * 34 + 542, 2, 11 - 0.7f * 22 + 7.0f));
expectVectorEqual(node->getAABHalfExtents(), glm::vec3(17, 44, 11));
node->setScale(glm::vec3(5, 2, 7));
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
expectVectorEqual(node->getAABCenter(), glm::vec3((17 - 0.3f * 34) * 5 + 542, 2, (11 - 0.7f * 22) * 7 + 7.0f), 0.00001f);
expectVectorEqual(node->getAABHalfExtents(), glm::vec3(17 * 5, 44 * 2, 11 * 7));
auto quat = glm::angleAxis((float)M_PI_2, glm::vec3(0, 0, 1));
node->setRotationQuaternion(quat);
node->updateMatrices();
node->updateAAB(node->getTransformMatrix());
expectVectorEqual(node->getAABCenter(), glm::vec3(542, 2 + (17 - 0.3f * 34) * 5, (11 - 0.7f * 22) * 7 + 7.0f), 0.00001f);
expectVectorEqual(node->getAABHalfExtents(), glm::vec3(44 * 2, 17 * 5, 11 * 7));
}
void Camera::render()
{
updateMatrices();
device::Device* device = scene.getDevice();
if (device != nullptr)
{
auto renderTargetSize = device->getRenderTargetSize();
float aspect =static_cast<float>(renderTargetSize.x) /
static_cast<float>(renderTargetSize.y);
// Rebuild projection when needed
if (!math::compareRelative(aspect, this->aspect))
{
this->aspect = aspect;
projection.buildProjectionMatrixPerspective(fieldOfView, aspect,
near, far);
std::cout << "Rebuild" << std::endl;
}
device->setTransform(device::Device::Projection, projection);
device->setTransform(device::Device::View, view);
}
viewFrustum.setMatrix(projection * view);
}
RenderObject::RenderObject(string tPath, string sPath, glm::vec2 position, float rotation, glm::vec2 size)
{
init();
texturePath = tPath;
shaderPath = sPath;
texture = assetManager->getTexture(texturePath);
shader = assetManager->getShader(shaderPath);
//UNTIL DYNAMIC LOADING IS FIXED
//----------------------------------------------------
if (texture == NULL) {
assetManager->forceLoadModel(texturePath);
texture = assetManager->getTexture(texturePath);
}
if (shader == NULL) {
assetManager->forceLoadShader(shaderPath);
shader = assetManager->getShader(shaderPath);
}
//----------------------------------------------------
this->position = position;
this->rotation = rotation;
this->size = size;
updateMatrices();
}
void Engine::onMouseMove(int x, int y, uint32_t mouseKeys)
{
if(m_mouseX < 0)
{
m_mouseX = x;
}
if(m_mouseY < 0)
{
m_mouseX = y;
}
int dx = m_mouseX - x;
int dy = m_mouseY - y;
m_mouseX = x;
m_mouseY = y;
if(mouseKeys & MK_LBUTTON)
{
m_mainCamera.rotateUp(dx / MOUSE_ROTATE_FACTOR);
m_mainCamera.rotateRight(dy / MOUSE_ROTATE_FACTOR);
D3DXVECTOR3 look = m_mainCamera.look();
m_mainCamera.setPosition(*D3DXVec3Scale(&look, &look, -m_radius));
updateMatrices();
}
}
void SceneView::resizeGL(int w, int h)
{
if (renderingIsPaused) return;
glViewport(0, 0, (GLsizei)w, (GLsizei)h);
updateMatrices();
}
bool CMCATask::initialize(const OutputFlag & of,
COutputHandler * pOutputHandler,
std::ostream * pOstream)
{
assert(mpProblem && mpMethod);
CMCAProblem* pProblem =
dynamic_cast<CMCAProblem *>(mpProblem);
assert(pProblem);
bool success = mpMethod->isValidProblem(mpProblem);
//we need to resize an initialize the result matrices before initializing the output
success &= updateMatrices();
//initialize reporting
success &= CCopasiTask::initialize(of, pOutputHandler, pOstream);
CSteadyStateTask *pSubTask = pProblem->getSubTask();
if (pSubTask)
success &= pSubTask->initialize(CCopasiTask::NO_OUTPUT, NULL, mReport.getStream());
return success;
}
void SceneView::mouseMoveEvent(QMouseEvent *event)
{
QPoint pos = event->pos();
if (m_button == Qt::LeftButton && event->modifiers() == Qt::NoModifier) {
m_alpha += (240.0f * (pos - m_pos).x()) / height();
m_beta += (240.0f * (pos - m_pos).y()) / height();
if (m_beta < -90) m_beta = -90;
else if (m_beta > 90) m_beta = 90;
}
else if (m_button == Qt::RightButton ||
(m_button == Qt::LeftButton && event->modifiers() == Qt::ControlModifier))
{
m_x -= (0.5 * m_z * (pos - m_pos).x()) / height();
m_y += (0.5 * m_z * (pos - m_pos).y()) / height();
}
else if (m_button == Qt::MidButton ||
(m_button == Qt::LeftButton && event->modifiers() == Qt::ShiftModifier))
{
m_z -= (m_z * (pos - m_pos).y()) / height();
if (m_z < 0.00001f) m_z = 0.00001f;
}
m_pos = pos;
updateMatrices();
emit updateGL();
}
mat4 SpotLight::getModulationMatrix( double time ) const
{
updateMatrices();
mat4 modulation = mModulationParams.toMat4( float( time ) );
return modulation * mProjectionMatrix * mViewMatrix;
}
bool CSteadyStateTask::initialize(const OutputFlag & of,
COutputHandler * pOutputHandler,
std::ostream * pOstream)
{
bool success = true;
assert(mpProblem && mpMethod);
CSteadyStateProblem* pProblem =
dynamic_cast<CSteadyStateProblem *>(mpProblem);
assert(pProblem);
success &= pProblem->initialize();
CSteadyStateMethod* pMethod =
dynamic_cast<CSteadyStateMethod *>(mpMethod);
assert(pMethod);
success &= pMethod->initialize(pProblem);
success &= pMethod->isValidProblem(mpProblem);
success &= updateMatrices();
mSteadyState = mpContainer->getState(true);
success &= CCopasiTask::initialize(of, pOutputHandler, pOstream);
return success;
}
void State::updateAll(void)
{
updateMatrices();
updateMaterial();
updateLight();
updateTexture();
updateFog();
}
void Engine::resize(int width, int height)
{
if((width <= 0) || (height <= 0))
{
return;
}
matrixPerspectiveFov(&m_projectionMatrix, VIEW_ANGLE, float(width)/float(height), NEAR_PLANE, FAR_PLANE);
updateMatrices();
}
void SkinnedMesh::updateMatrices(const D3DXFRAME *frameBase, const D3DXMATRIX *parentMatrix)
{
FrameEx *currentFrame = (FrameEx*)frameBase;
// If parent matrix exists multiply our frame matrix by it
if (parentMatrix != NULL)
D3DXMatrixMultiply(¤tFrame->combinedTransform, ¤tFrame->TransformationMatrix, parentMatrix);
else
currentFrame->combinedTransform = currentFrame->TransformationMatrix;
// If we have a sibling recurse
if (currentFrame->pFrameSibling != NULL)
updateMatrices(currentFrame->pFrameSibling, parentMatrix);
// If we have a child recurse
if (currentFrame->pFrameFirstChild != NULL)
updateMatrices(currentFrame->pFrameFirstChild, ¤tFrame->combinedTransform);
}
/**
* Constructor with given external ros texture
*/
srs_ui_but::CProjectionData::CProjectionData( Ogre::SceneManager * manager, const ros::NodeHandle &nh, const std::string & materialName, const std::string & groupName )
: m_texW( 512 )
, m_texH( 512 )
, m_mode( TM_ROS )
, m_manager( manager )
{
// std::cerr << "CProjectionData constructor" << std::endl;
// Create frustum and projector node
m_frustum = new Ogre::Frustum();
m_frustum->setNearClipDistance( 0.8 );
m_projectorNode = manager->getRootSceneNode()->createChildSceneNode("DecalProjectorNode");
m_projectorNode->attachObject(m_frustum);
m_projectorNode->setPosition(0,5,0);
// Create ros textures
m_textureRosRGB = new tRosTextureRGB( nh, "rgb_texture", "rgb8" );
assert( m_textureRosRGB != 0 );
m_textureRosDepth = new tRosTextureDepth( nh, "depth_texture", DEFAULT_DEPTH_IMAGE_TOPIC_NAME, "32FC4" );
assert( m_textureRosDepth != 0 );
// Create and init material
m_materialPtr = (Ogre::MaterialPtr)Ogre::MaterialManager::getSingleton().getByName(materialName, groupName);
m_materialPtr->load();
// std::cerr << "Num of techniques: " << m_materialPtr->getNumTechniques() << std::endl;
m_materialPtr->getTechnique(0)->setLightingEnabled(false);
Ogre::Pass *pass = m_materialPtr->getTechnique(0)->getPass(0);
pass->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
pass->setDepthBias(1);
pass->setLightingEnabled(false);
// Connect rgb texture and material
m_texState = pass->createTextureUnitState(m_textureRosRGB->getTexture()->getName());
m_texState->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
m_texState->setTextureFiltering(Ogre::FO_POINT, Ogre::FO_LINEAR, Ogre::FO_NONE);
Ogre::LayerBlendOperationEx op = Ogre::LBX_MODULATE;
m_texState->setColourOperationEx(op, Ogre::LBS_TEXTURE, Ogre::LBS_TEXTURE);
// Connect Depth texture and material
m_texState = pass->createTextureUnitState(m_textureRosDepth->getTexture()->getName());
m_texState->setDesiredFormat( Ogre::PF_FLOAT32_RGB );
m_texState->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);
m_texState->setTextureFiltering(Ogre::FO_POINT, Ogre::FO_LINEAR, Ogre::FO_NONE);
m_texState->setColourOperationEx(op, Ogre::LBS_TEXTURE, Ogre::LBS_TEXTURE);
updateMatrices();
// std::cerr << "CProjectionData constructor done" << std::endl;
}
void Model::Draw()
{
m_shader.Use();
for(GLuint i = 0; i < this->meshes.size(); i++)
this->meshes[i]->Draw(m_shader, m_material[this->meshes[i]->getMaterialIndex()]);
if(m_camera.needUpdate()) updateMatrices();
}
void reLight::updateShader( reShader* shader )
{
if (updateNeeded)
{
updateMatrices();
}
reMat4 mat(projection*view);
//shader->setUniformMatrix("light[0]", 1, glm::value_ptr(mat));
}
void SceneView::resetTransform()
{
m_alpha = 0.0f;
m_beta = 0.0f;
m_x = 0.0f;
m_y = 0.0f;
m_z = 5.0f;
updateMatrices();
}
void PerspectiveCamera::initialize(float a_viewportWidth, float a_viewportHeight, float a_horizontalFov, float a_near, float a_far, EProjection a_projection)
{
m_projection = a_projection;
m_near = a_near;
m_far = a_far;
m_viewportWidth = a_viewportWidth;
m_viewportHeight = a_viewportHeight;
setHorizontalFieldOfView(a_horizontalFov);
updateMatrices();
}
void SceneView::setBackgroundColor(QColor color)
{
sceneBackgroundColor = color;
makeCurrent();
glClearColor(sceneBackgroundColor);
doneCurrent();
updateMatrices();
emit updateGL();
}
void Engine::onMouseWheel(int delta)
{
m_radius -= delta / MOUSE_WHEEL_FACTOR;
if(m_radius < 0.0f)
{
m_radius = 0.0f;
}
D3DXVECTOR3 look = m_mainCamera.look();
m_mainCamera.setPosition(*D3DXVec3Scale(&look, &look, -m_radius));
updateMatrices();
}
//! render
void CCameraSceneNode::render()
{
updateMatrices();
video::IVideoDriver* driver = SceneManager->getVideoDriver();
if ( driver)
{
driver->setTransform(video::ETS_PROJECTION, ViewArea.getTransform ( video::ETS_PROJECTION) );
driver->setTransform(video::ETS_VIEW, ViewArea.getTransform ( video::ETS_VIEW) );
}
}
void Object::draw(void){
updateMatrices();
glUniformMatrix4fv(glGetUniformLocation(program, "scaleTrans"), 1, GL_TRUE, scaleTrans.ptr<GLfloat>());
glUniformMatrix4fv(glGetUniformLocation(program, "objectRot"), 1, GL_TRUE, totalRot.ptr<GLfloat>());
glUniform3fv(glGetUniformLocation(program, "color"), 1, cv::Mat(color).ptr<GLfloat>());
if(tex != NULL){
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, tex->refId);
}
m->draw(program);
}
CellGrid::CellGrid(bool allow_diagonals):
FifeClass(),
m_matrix(),
m_inverse_matrix(),
m_xshift(0),
m_yshift(0),
m_xscale(1),
m_yscale(1),
m_rotation(0),
m_allow_diagonals(allow_diagonals) {
updateMatrices();
}
void Renderer::updateMatrices(QSGNode *node, QSGTransformNode *xform)
{
if (node->isSubtreeBlocked())
return;
if (node->type() == QSGNode::TransformNodeType) {
QSGTransformNode *tn = static_cast<QSGTransformNode *>(node);
if (xform)
tn->setCombinedMatrix(xform->combinedMatrix() * tn->matrix());
else
tn->setCombinedMatrix(tn->matrix());
QSGNODE_TRAVERSE(node)
updateMatrices(child, tn);
} else {
if (node->type() == QSGNode::GeometryNodeType || node->type() == QSGNode::ClipNodeType) {
static_cast<BasicGeometryNode_Accessor *>(node)->m_matrix = xform ? &xform->combinedMatrix() : 0;
}
QSGNODE_TRAVERSE(node)
updateMatrices(child, xform);
}
}
void GLWidget::paintGL()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glViewport(viewport.x(), viewport.y(), viewport.width(), viewport.height());
updateMatrices();
drawAxes();
drawCube();
drawPoints();
}
void prepare()
{
VulkanExampleBase::prepare();
// Create a fence for synchronization
VkFenceCreateInfo fenceCreateInfo = vkTools::initializers::fenceCreateInfo(VK_FLAGS_NONE);
vkCreateFence(device, &fenceCreateInfo, NULL, &renderFence);
loadMeshes();
setupVertexDescriptions();
setupPipelineLayout();
preparePipelines();
prepareMultiThreadedRenderer();
updateMatrices();
prepared = true;
}
bool CSensTask::initialize(const OutputFlag & of,
COutputHandler * pOutputHandler,
std::ostream * pOstream)
{
bool success = true;
//this needs to be done before the initialization of the output
if (!updateMatrices()) success = false;
if (!CCopasiTask::initialize(of, pOutputHandler, pOstream)) success = false;
return success;
}
ImageMappingInformation::ImageMappingInformation(const cgt::vec3& size, const cgt::vec3& offset, const cgt::vec3& voxelSize, const cgt::mat4& customTransformation /*= LinearMapping<float>::identity*/)
: _size(size)
, _offset(offset)
, _voxelSize(voxelSize)
, _customTransformation(customTransformation)
{
cgt::mat4 invTrafo;
if (! _customTransformation.invert(invTrafo)) {
LERRORC("CAMPVis.core.ImageMappingInformation", "Custom transformation is not invertable! Resetting to identity tranformation.");
_customTransformation = cgt::mat4::identity;
}
updateMatrices();
}
void MouseView3D::mouseMove(float x, float y)
{
float pos[] = {x, y};
if (m_mouseLeft) {
// update deltaAngle
m_angles[0] = m_startAngles[0] - 0.01f * (pos[0] - m_currentPos[0]);
m_angles[1] = m_startAngles[1] + 0.01f * (pos[1] - m_currentPos[1]);
// Limit the vertical angle (5 to 85 degrees)
if (m_angles[1] > DEG2RAD(85))
m_angles[1] = DEG2RAD(85);
if (m_angles[0] < DEG2RAD(5))
m_angles[0] = DEG2RAD(5);
updateEye();
updateMatrices();
} else if (m_mouseRight) {
//Translation
float t[3];
t[0] = 0.1f * (pos[0] - m_currentPos[0]);
t[1] = 0;
t[2] = 0.1f * (pos[1] - m_currentPos[1]);
float mt[3];
Mat4_Rtxp(mt, m_modelView, t);
m_center[0] = m_startCenter[0] + mt[0];
m_center[1] = m_startCenter[1] + mt[1];
m_center[2] = m_startCenter[2] + mt[2];
updateEye();
updateMatrices();
}
}
void NvInputHandler_CameraFly::update(float deltaTime)
{
// Calculate the deltas for each access to create our new relative transform
float yaw = (m_yRotDelta_Mouse * m_rotSpeed_Mouse) + ((m_yPlusRotVel_KB - m_yNegRotVel_KB) * m_rotSpeed_KB * deltaTime) + (m_yRotVel_GP * m_rotSpeed_GP * deltaTime);
float pitch = (m_xRotDelta_Mouse * m_rotSpeed_Mouse) + ((m_xPlusRotVel_KB - m_xNegRotVel_KB) * m_rotSpeed_KB * deltaTime) + (m_xRotVel_GP * m_rotSpeed_GP * deltaTime);
float kbAccelerate = m_accelerate_KB? 5.0f : 1.0f;
float gpAccelerate = m_accelerate_GP? 5.0f : 1.0f;
float xDelta = (m_xTransDelta_Mouse * m_transSpeed_Mouse) + ((m_xPlusTransVel_KB - m_xNegTransVel_KB) * m_transSpeed_KB * kbAccelerate * deltaTime) + (m_xTransVel_GP * m_transSpeed_GP * gpAccelerate * deltaTime);
float yDelta = (m_yTransDelta_Mouse * m_transSpeed_Mouse) + ((m_yPlusTransVel_KB - m_yNegTransVel_KB) * m_transSpeed_KB * kbAccelerate * deltaTime) + (m_yTransVel_GP * m_transSpeed_GP * gpAccelerate * deltaTime);
float zDelta = (m_zTransDelta_Mouse * m_transSpeed_Mouse) + ((m_zPlusTransVel_KB - m_zNegTransVel_KB) * m_transSpeed_KB * kbAccelerate * deltaTime) + (m_zTransVel_GP * m_transSpeed_GP * gpAccelerate * deltaTime);
// Translation provided by input is relative to the camera.
// Convert to world space translation before adding it.
nv::matrix4f currentRotation = m_currentCameraMat;
currentRotation.set_translate(nv::vec3f(0.0f, 0.0f, 0.0f));
nv::vec4f worldTranslation = currentRotation * nv::vec4f(xDelta, yDelta, zDelta, 1.0f);
m_currentPos.x += worldTranslation.x;
m_currentPos.y += worldTranslation.y;
m_currentPos.z += worldTranslation.z;
// Update our current yaw and pitch, clamping as needed
m_currentYaw += yaw;
float twopi = (NV_PI * 2.0f);
while (m_currentYaw > twopi)
{
m_currentYaw -= twopi;
}
m_currentPitch += pitch;
if (m_currentPitch > NV_PI)
{
m_currentPitch = NV_PI;
}
else if (m_currentPitch < -NV_PI)
{
m_currentPitch = -NV_PI;
}
// Clear out the accumulated mouse values
m_xRotDelta_Mouse = m_yRotDelta_Mouse = m_zRotDelta_Mouse = 0.0f;
m_xTransDelta_Mouse = m_yTransDelta_Mouse = m_zTransDelta_Mouse = 0.0f;
updateMatrices();
}
