bool Chunk::Destroy(int x, int y, int z) {
if (GetActive(x, y, z)) {
m_blocks[x][y][z].SetActive(false);
RebuildMesh();
return true;
}
return false;
}
void Chunk::EndEdit()
{
if (_editing != 0)
{
_editing--;
if (_editing == 0)
{
RebuildMesh();
}
}
}
void DynamicsWorld::Update()
{
dynamicsWorld->stepSimulation(Time::Delta, 10);
for (auto fb : BodyMap)
{
auto rb = fb.second->Entity->GetComponent<RigidBody>();
if (rb != nullptr)
{
btRigidBody* body = rb->GetBody();
if (body && body->getMotionState())
{
btTransform trans;
body->getMotionState()->getWorldTransform(trans);
auto p = trans.getOrigin();
auto r = trans.getRotation();
Transform t;
t.Position = glm::vec3(p.getX(), p.getY(), p.getZ());
t.Rotation = glm::quat(r.getW(), r.getX(), r.getY(), r.getZ());
rb->Entity->Transform.Position = glm::vec3(t.ToMatrix() * glm::vec4(rb->GetOffset(), 1.0f));
if (rb->Entity->GetComponent<Character>() == nullptr)
rb->Entity->Transform.Rotation = t.Rotation;
}
}
auto sb = fb.second->Entity->GetComponent<SoftBody>();
if (sb != nullptr)
{
sb->RebuildMesh();
}
}
softBodyWorldInfo.m_sparsesdf.GarbageCollect();
}
vector<Point2f> Recognition::findBoundingAndRebuild(Mat img, Mat Template, int& horizontalSize){
vector<Point2f> mesh;
Squares s(projectedSquareSize);
vector<vector<Point> > squares;
s.find_squares(img, squares);
if(squares.size()> 0){
vector<Point2f> refinedSquares= s.refineAndOrderSquares(squares, img );
s.FilterOnRectified(refinedSquares, img);
imshow("findBoundingAndRebuild",img);
int biggestXSquareIndex, biggestYSquareIndex, smallestXSquareIndex, smallestYSquareIndex;
Point2f biggestX(0,0);
Point2f biggestY(0,0);
Point2f smallestX(numeric_limits<float>::infinity(),numeric_limits<float>::infinity());
Point2f smallestY(numeric_limits<float>::infinity(),numeric_limits<float>::infinity());
for(unsigned int i=0; i< refinedSquares.size(); i++){
if(refinedSquares[i].x> biggestX.x){
biggestXSquareIndex= ((int)(i/4))*4;
biggestX= refinedSquares[i];
}
if(refinedSquares[i].x< smallestX.x){
smallestXSquareIndex= ((int)(i/4))*4;
smallestX= refinedSquares[i];
}
if(refinedSquares[i].y> biggestY.y){
biggestYSquareIndex= ((int)(i/4))*4;
biggestY= refinedSquares[i];
}
if(refinedSquares[i].y< smallestY.y){
smallestYSquareIndex= ((int)(i/4))*4;
smallestY= refinedSquares[i];
}
}
/*circle(img, biggestX, 1, Scalar(255,255,255), 5);
circle(img, biggestY, 1, Scalar(255,255,255), 5);
circle(img, smallestX, 1, Scalar(255,255,255), 5);
circle(img, smallestY, 1, Scalar(255,255,255), 5);*/
//template Matching
int result_cols = img.cols - Template.cols + 1;
int result_rows = img.rows - Template.rows + 1;
Mat result;
result.create( result_cols, result_rows, CV_32FC1 );
/// Do the Matching and Normalize
matchTemplate( img, Template, result, CV_TM_CCOEFF_NORMED );
normalize( result, result, 0, 1, NORM_MINMAX, -1, Mat() );
/// Localizing the best match with minMaxLoc
double minVal; double maxVal; Point minLoc; Point maxLoc;
Point templateUpperLeft, templateUpperRight, templateLowerLeft, templateLowerRight;
minMaxLoc( result, &minVal, &maxVal, &minLoc, &maxLoc, Mat() );
templateUpperLeft = maxLoc; //matchLoc holds the upper left corner
templateUpperRight= Point( templateUpperLeft.x + Template.cols , templateUpperLeft.y );
templateLowerLeft= Point( templateUpperLeft.x , templateUpperLeft.y + Template.rows);
templateLowerRight= Point( templateUpperLeft.x + Template.cols , templateUpperLeft.y + Template.rows);
if((templateUpperLeft.x - smallestX.x) < 10 || (templateUpperLeft.y - smallestY.y) < 10 || (templateLowerRight.x - biggestX.x) < 10 || (templateLowerRight.y - biggestY.y) < 10)
cout << "Square recovery and template match!!" << endl;
else
cout << "Square recovery and template matching do not match, rebuilding mesh with template match only!!" << endl;
Mat templatePoint = img.clone();
circle(templatePoint, templateUpperLeft, 1, Scalar(255,0,255), 4);
circle(templatePoint, templateLowerRight, 1, Scalar(255,0,255), 4);
imshow("templatePoint",templatePoint);
mesh= RebuildMesh(templateLowerRight, templateLowerRight, templateUpperLeft, templateUpperLeft, horizontalSize, img, refinedSquares);
}
return mesh;
}
