void MeshLoaderSPM::readChunkAnimationSkeletal()
{
/* Read skeletal animation basics */
const io::stringc AnimName(File_->readStringData());
/* Add new skeletal animation */
SkeletalAnimation* Anim = gSharedObjects.SceneMngr->createAnimation<SkeletalAnimation>("SPM Animation");
AnimationSkeleton* Skeleton = Anim->createSkeleton();
/* Read animation joints */
const u32 JointCount = File_->readValue<u32>();
Joints_.resize(JointCount);
for (u32 i = 0; i < JointCount; ++i)
readChunkAnimationJoint(Joints_[i]);
/* Build joint construction */
foreach (SJointSPM &Joint, Joints_)
{
/* Create joint object */
Joint.JointObject = Skeleton->createJoint(
Transformation(Joint.Position, Joint.Rotation, Joint.Scale), Joint.Name
);
/* Setup vertex weights */
std::vector<SVertexGroup> VertexGroups;
VertexGroups.resize(Joint.VertexWeights.size());
u32 i = 0;
foreach (const SVertexWeightSPM &Vertex, Joint.VertexWeights)
{
VertexGroups[i++] = SVertexGroup(
CurMesh_, Vertex.Surface, Vertex.Index, Vertex.Weight
);
}
Joint.JointObject->setVertexGroups(VertexGroups);
/* Setup keyframes */
foreach (const SKeyframeSPM &Keyframe, Joint.Keyframes)
{
Anim->addKeyframe(
Joint.JointObject,
Keyframe.Frame,
Transformation(Keyframe.Position, Keyframe.Rotation, Keyframe.Scale)
);
}
}
Transformation LinearPrediction::Interpolate( Unit *un, double deltatime ) const
{
static bool no_interp = XMLSupport::parse_bool( vs_config->getVariable( "network", "no_interpolation", "false" ) );
if (no_interp)
return Transformation( OB, B );
if (deltatime > this->deltatime || this->deltatime == 0) {
double delay = deltatime-this->deltatime;
//cerr << "Using new Pos "<<un->GetSerial()<<": A2=("<<A2.i<<",,"<<A2.k<<"), VB=("<<VB.i<<",,"<<VB.k<<"), delay="<<delay<<endl;
return Transformation( OB, A2+VB*delay );
} else {
const Transformation old_pos( OA, A0 ); //un->curr_physical_state);
const Transformation new_pos( OB, A2 );
//cerr << "Using OLD Pos "<<un->GetSerial()<<": A2=("<<A2.i<<",,"<<A2.k<<"), delay="<<(deltatime/this->deltatime)<<", A0=("<<A0.i<<",,"<<A0.k<<")"<<endl;
return linear_interpolate_uncapped( old_pos, new_pos, deltatime/this->deltatime );
}
}
//**********************************************************************************
//test of polyhedron intersection callable from python shell
bool do_Polyhedras_Intersect(const shared_ptr<Shape>& cm1,const shared_ptr<Shape>& cm2,const State& state1,const State& state2){
const Se3r& se31=state1.se3;
const Se3r& se32=state2.se3;
Polyhedra* A = static_cast<Polyhedra*>(cm1.get());
Polyhedra* B = static_cast<Polyhedra*>(cm2.get());
//move and rotate 1st the CGAL structure Polyhedron
Matrix3r rot_mat = (se31.orientation).toRotationMatrix();
Vector3r trans_vec = se31.position;
Transformation t_rot_trans(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PA = A->GetPolyhedron();
std::transform( PA.points_begin(), PA.points_end(), PA.points_begin(), t_rot_trans);
//move and rotate 2st the CGAL structure Polyhedron
rot_mat = (se32.orientation).toRotationMatrix();
trans_vec = se32.position;
t_rot_trans = Transformation(rot_mat(0,0),rot_mat(0,1),rot_mat(0,2), trans_vec[0],rot_mat(1,0),rot_mat(1,1),rot_mat(1,2),trans_vec[1],rot_mat(2,0),rot_mat(2,1),rot_mat(2,2),trans_vec[2],1.);
Polyhedron PB = B->GetPolyhedron();
std::transform( PB.points_begin(), PB.points_end(), PB.points_begin(), t_rot_trans);
//calculate plane equations
std::transform( PA.facets_begin(), PA.facets_end(), PA.planes_begin(),Plane_equation());
std::transform( PB.facets_begin(), PB.facets_end(), PB.planes_begin(),Plane_equation());
//call test
return do_intersect(PA,PB);
}
void PostScriptView::MinGS (ostream& out) {
Brush(out);
FgColor(out);
BgColor(out);
Pattern(out);
Transformation(out);
}
/// transforms face coordinates to regular system, face normal will be z'
/// will try to align y' with z, but if that fails will align y' with y
/// face origin will be minimum point in x', y' and z'=0
/// will return identity transformation if cannot compute plane for vertices
Transformation Transformation::alignFace(const std::vector<Point3d>& vertices)
{
OptionalVector3d zPrime = getOutwardNormal(vertices);
if (!zPrime){
LOG(Error, "Cannot compute outward normal for vertices");
return Transformation();
}
// align z' with outward normal
Transformation align = alignZPrime(*zPrime);
Point3dVector alignedVertices = align.inverse()*vertices;
// compute translation to minimum in aligned system
double minX = alignedVertices[0].x();
double minY = alignedVertices[0].y();
double minZ = alignedVertices[0].z();
for (const Point3d& vertex : alignedVertices){
minX = min(minX, vertex.x());
minY = min(minY, vertex.y());
minZ = min(minZ, vertex.z());
}
Transformation translate = translation(Vector3d(minX, minY, minZ));
return align*translate;
}
/// rotation about origin defined by axis and angle (radians)
Transformation Transformation::rotation(const Vector3d& axis, double radians)
{
Matrix storage = identity_matrix<double>(4);
Vector3d temp = axis;
if (!temp.normalize()){
LOG(Error, "Could not normalize axis");
}
Vector normalVector = temp.vector();
// Rodrigues' rotation formula / Rotation matrix from Euler axis/angle
// I*cos(radians) + I*(1-cos(radians))*axis*axis^T + Q*sin(radians)
// Q = [0, -axis[2], axis[1]; axis[2], 0, -axis[0]; -axis[1], axis[0], 0]
Matrix P = outer_prod(normalVector, normalVector);
Matrix I = identity_matrix<double>(3);
Matrix Q(3, 3, 0.0);
Q(0,1) = -normalVector(2);
Q(0,2) = normalVector(1);
Q(1,0) = normalVector(2);
Q(1,2) = -normalVector(0);
Q(2,0) = -normalVector(1);
Q(2,1) = normalVector(0);
// rotation matrix
Matrix R = I*cos(radians) + (1-cos(radians))*P + Q*sin(radians);
for (unsigned i = 0; i < 3; ++i){
for (unsigned j = 0; j < 3; ++j){
storage(i,j) = R(i,j);
}
}
return Transformation(storage);
}
Transformation Transformation::newTranslation(double dx, double dy, double dz){
return Transformation
({{ {1, 0, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, 0},
{dx, dy, dz, 1}}});
}
FPPlayerEntity::FPPlayerEntity(RenderSystem* pRenderSystem)
{
m_PointingEulerDir = Vector3( 0.0f, 0.0f, 0.0f );
m_TimeSinceLastShot = 0.0f;
m_ShotEntityId = 0;
m_bMouseDragged = false;
SetRenderSystem( pRenderSystem );
// Set up flashlight
m_pSpotlight = new SpotLight();
m_pSpotlight->SetRadius( 100.0f );
m_pSpotlight->SetIntensity( 20.0f );
m_pSpotlight->SetColor( Vector3(1.0f,1.0f,0.8f) );
m_pSpotlight->SetCone( Vector2( XM_PI/3.0f, XM_PI/3.0f ) );
m_pSpotlight->SetCookie( m_pRenderSystem->LoadTexture2D( L"Media/spotlight.bmp" ) );
m_pSpotlight->Transformation()->SetPosition( 0.0f, 0.0f, 0.0f );
m_pSpotlight->PointTo( Vector3( 0.0f, 0.0f, 25.0f ), 0.0f );
m_pSpotlight->SetRSMEnabled( false );
//m_pSpotlight->disable();
UINT width, height;
RenderSystemConfig config = pRenderSystem->GetConfig();
width = config.Width;
height = config.Height;
// Set up first person camera
m_pCamera = new Camera3D();
m_pCamera->SetPosition( Transformation()->GetPosition() );
m_pCamera->SetLookAt( Vector3( 0.0f, 1.0f, 0.0f ) );
m_pCamera->SetUpVector( Vector3( 0.0f, 0.0f, 1.0f ) );
m_pCamera->SetProjection( XM_PI*0.35f, width / (float)height, 0.1f, 2000.0f );
m_pCamera->Update( 0.0f );
}
void MarkerDetector::estimatePosition(std::vector<Marker>& detectedMarkers)
{
for (size_t i=0; i<detectedMarkers.size(); i++)
{
Marker& m = detectedMarkers[i];
cv::Mat Rvec;
cv::Mat_<float> Tvec;
cv::Mat raux,taux;
cv::solvePnP(m_markerCorners3d, m.points, camMatrix, distCoeff,raux,taux);
raux.convertTo(Rvec,CV_32F);
taux.convertTo(Tvec ,CV_32F);
cv::Mat_<float> rotMat(3,3);
cv::Rodrigues(Rvec, rotMat);
// Copy to transformation matrix
m.transformation = Transformation();
for (int col=0; col<3; col++)
{
for (int row=0; row<3; row++)
{
m.transformation.r().mat[row][col] = rotMat(row,col); // Copy rotation component
}
m.transformation.t().data[col] = Tvec(col); // Copy translation component
}
// Since solvePnP finds camera location, w.r.t to marker pose, to get marker pose w.r.t to the camera we invert it.
m.transformation = m.transformation.getInverted();
}
}
void PhysicsBaseObject::setRotation(const dim::matrix4f &Rotation)
{
const dim::vector3df Position(getPosition());
dim::matrix4f Transformation(Rotation);
Transformation.setPosition(Position);
setTransformation(Transformation);
}
// We can use the precise location of marker corners to estimate a transformation between our camera and a marker in 3D.
// This operation is known as pose estimation from 2D-3D correspondences.
// This process finds an Euclidean transformation (rotation + translation) between the camera and the object.
// We define the 3D coordinates of marker corners putting our marker on the XY plane (Z=0),
// with the marker center in the origin (0,0,0).
// Then we find the camera location using the 2D-3D correspondences as input for cv::solvePnP.
void MarkerDetector::estimatePosition(std::vector<Marker>& detectedMarkers)
{
for (size_t i = 0; i < detectedMarkers.size(); i++) {
Marker& m = detectedMarkers[i];
cv::Mat Rvec;
cv::Mat_<float> Tvec;
cv::Mat raux;
cv::Mat taux;
// See: http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#solvepnp
cv::solvePnP(markerCorners3D, m.points, camMatrix, distCoeff, raux, taux);
// See; http://docs.opencv.org/modules/core/doc/basic_structures.html#mat-convertto
raux.convertTo(Rvec, CV_32F);
taux.convertTo(Tvec, CV_32F);
cv::Mat_<float> rotMat(3, 3);
// See: http://docs.opencv.org/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#rodrigues
cv::Rodrigues(Rvec, rotMat);
// Copy to transformation matrix.
m.transformation = Transformation();
for (int col = 0; col < 3; col++) {
for (int row = 0; row < 3; row++) {
// Copy rotation component.
m.transformation.r().mat[row][col] = rotMat(row, col);
}
// Copy translation component.
m.transformation.t().data[col] = Tvec(col);
}
// Since solvePnP finds camera location, with regard to the marker pose,
// to get marker pose with regard to the camera we invert it.
m.transformation = m.transformation.getInverted();
}
}
void Matrix4x4::EulerRotation(const Vertex &rot)
{
float radiansX = rot._x * (float(PI)/float(180));
float radiansY = rot._y * (float(PI)/float(180));
float radiansZ = rot._z * (float(PI)/float(180));
Matrix4x4 matRotateX;
matRotateX.SetMatrix(1.0f, 0.0f, 0.0f,
0.0f, cos(radiansX), sin(radiansX),
0.0f, -sin(radiansX),cos(radiansX));
Matrix4x4 matRotateY;
matRotateY.SetMatrix(cos(radiansY), 0.0f, -sin(radiansY),
0.0f, 1.0f, 0.0f,
sin(radiansY), 0, cos(radiansY));
Matrix4x4 matRotateZ;
matRotateZ.SetMatrix(cos(radiansZ), sin(radiansZ), 0.0f,
-sin(radiansZ), cos(radiansZ), 0.0f,
0.0f, 0.0f, 1.0f);
matRotateZ.Transformation(matRotateX);
matRotateZ.Transformation(matRotateY);
Transformation(matRotateZ);
}
void Matrix4x4::ArbAxisRotation(Vertex &rotVert, int degrees)
{
float radians = degrees * (float(PI)/180);
rotVert.Normalize();
float xy = rotVert._x * rotVert._y;
float xz = rotVert._x * rotVert._z;
float yz = rotVert._y * rotVert._z;
float xSq = rotVert._x * rotVert._x;
float ySq = rotVert._y * rotVert._y;
float zSq = rotVert._z * rotVert._z;
float oneMincos = (1-cos(radians));
Matrix4x4 matRotate;
matRotate.Identity();
matRotate._11 = xSq * oneMincos + cos(radians);
matRotate._12 = xy * oneMincos + rotVert._z * sin(radians);
matRotate._13 = xz * oneMincos - rotVert._y * sin(radians);
matRotate._21 = xy * oneMincos - rotVert._z * sin(radians);
matRotate._22 = ySq * oneMincos + cos(radians);
matRotate._23 = yz * oneMincos + rotVert._x * sin(radians);
matRotate._31 = xz * oneMincos + rotVert._y * sin(radians);
matRotate._32 = yz * oneMincos - rotVert._x * sin(radians);
matRotate._33 = zSq * oneMincos + cos(radians);
Transformation(matRotate);
}
Transformation Transformation::newRz(double theta){
return Transformation
({{ {cos(theta), sin(theta), 0, 0},
{-sin(theta), cos(theta) , 0, 0},
{0 , 0 , 1, 0},
{0 , 0 , 0, 1}}});
}
Transformation Transformation::newScaling(double sx, double sy, double sz){
return Transformation
({{ {sx, 0 , 0 , 0},
{0 , sy, 0 , 0},
{0 , 0 , sz, 0},
{0 , 0 , 0 , 1}}});
}
Transformation Transformation::newTranslation(double dx, double dy) {
Matrix m = {{ {1, 0, 0},
{0, 1, 0},
{dx, dy, 1}
}
};
return Transformation(m);
}
Transformation Transformation::newScaling(double sx, double sy) {
Matrix m = {{ {sx, 0, 0},
{0, sy, 0},
{0, 0, 1}
}
};
return Transformation(m);
}
void Matrix4x4::Scale(float kx, float ky, float kz)
{
Matrix4x4 scaleMat(kx, 0.0f, 0.0f,
0.0f, ky, 0.0f,
0.0f, 0.0f, kz);
Transformation(scaleMat);
}
Transformation Transformation::transpose(){
TransformationMatrix mat;
for(int i = 0; i < 4; i++)
for(int j = 0; j < 4; j++)
mat[i][j] = _m[j][i];
return Transformation(std::move(mat));
}
void Window::updateMatrix() {
_wo2wiMatrix = Transformation();
_wo2wiMatrix *= Transformation::newTranslation(-_center.x + _d, -_center.y + _d, -_center.z + _d);
_wo2wiMatrix *= Transformation::newRx(_thetaX);
_wo2wiMatrix *= Transformation::newRy(_thetaY);
_wo2wiMatrix *= Transformation::newRz(_thetaZ);
_wo2wiMatrix *= Transformation::newScaling(1.0/_width, 1.0/_height, 2.0/(_width + _height));
}
Transformation Transformation::newRotation(double graus){
// Por algum motivo desconhecido, a rotação esta invertida
double rad = -toRadians(graus);
Matrix m = {{ {cos(rad), -sin(rad), 0},
{sin(rad), cos(rad), 0},
{ 0, 0, 1} }};
return Transformation(m);
}
Transformation Transformation::newRotation(double graus) {
double rad = toRadians(graus);
Matrix m = {{ { cos(rad), sin(rad), 0},
{-sin(rad), cos(rad), 0},
{ 0, 0, 1}
}
};
return Transformation(m);
}
void Matrix4x4::XAxisRotation(float degrees)
{
float radians = degrees * (float(PI)/180);
Matrix4x4 matRotate(1.0f, 0.0f, 0.0f,
0.0f, cos(radians), sin(radians),
0.0f, -sin(radians),cos(radians));
Transformation(matRotate);
}
/// returns a transformation which is the inverse of this
Transformation Transformation::inverse() const
{
Matrix matrix(4,4);
bool test = invert(m_storage, matrix);
if (!test){
// this should never happen
LOG_AND_THROW("Matrix inversion failed");
}
return Transformation(matrix);
}
/// translation along vector
Transformation Transformation::translation(const Vector3d& translation)
{
Matrix storage = identity_matrix<double>(4);
storage(0,3) = translation.x();
storage(1,3) = translation.y();
storage(2,3) = translation.z();
return Transformation(storage);
}
Player::Player(float x, float y, Vec3D scale){
Player();
m_Active = true;
m_Transformation = Transformation(Vec3D(x,y,0),scale);
m_CollisionEnabled = true;
m_Speed = 0.2;
m_MaxVel = 3.6;
m_Velocity = 0;
m_LaserCooldown = 30;
m_LaserStatus = 0;
m_Lives = 3;
}
void Matrix4x4::YAxisRotation(float degrees)
{
float radians = degrees * (float(PI)/180);
Matrix4x4 matRotate;
matRotate.Identity();
matRotate.SetMatrix(cos(radians), 0.0f, -sin(radians),
0.0f, 1.0f, 0.0f,
sin(radians), 0, cos(radians));
Transformation(matRotate);
}
void TerrainPage::update_bounding_box()
{
BoundingBox bounding_box;
glm::vec3 min, max;
get_mesh()->get_bounding_box(Transformation(), bounding_box);
min = bounding_box.get_min();
max = bounding_box.get_max();
min.z = get_min_z();
max.z = get_max_z();
bounding_box.set_min_max(min, max);
set_bounding_box(bounding_box.transform(
get_world_transformation()));
}
/// transforms system with z' to regular system
/// will try to align y' with z, but if that fails will align y' with y
Transformation Transformation::alignZPrime(const Vector3d& zPrime)
{
Vector3d xp;
Vector3d yp;
Vector3d zp = zPrime;
if (!zp.normalize()){
LOG(Error, "Could not normalize zPrime");
}
Vector3d xAxis(1,0,0);
Vector3d yAxis(0,1,0);
Vector3d zAxis(0,0,1);
Vector3d negXAxis(-1,0,0);
// check if face normal is up or down
if (fabs(zp.dot(zAxis)) < 0.99){
// not facing up or down, set yPrime along zAxis
yp = zAxis - (zp.dot(zAxis)*zp);
if (!yp.normalize()){
LOG(Error, "Could not normalize axis");
}
xp = yp.cross(zp);
}else{
// facing up or down, set xPrime along -xAxis
xp = negXAxis - (zp.dot(negXAxis)*zp);
if (!xp.normalize()){
LOG(Error, "Could not normalize axis");
}
yp = zp.cross(xp);
}
Matrix storage = identity_matrix<double>(4);
storage(0,0) = xp.x();
storage(1,0) = xp.y();
storage(2,0) = xp.z();
storage(0,1) = yp.x();
storage(1,1) = yp.y();
storage(2,1) = yp.z();
storage(0,2) = zp.x();
storage(1,2) = zp.y();
storage(2,2) = zp.z();
return Transformation(storage);
}
boolean PSStencil::Definition (ostream& out) {
StencilComp* comp = (StencilComp*) GetSubject();
Bitmap* image, *mask;
comp->GetStencil()->GetOriginal(image, mask);
const char* tag = (image == mask) ? "SSten" : "FSten";
Coord w = image->Width();
Coord h = image->Height();
out << "Begin " << MARK << " " << tag << "\n";
FgColor(out);
BgColor(out);
Transformation(out);
out << MARK << "\n";
out << w << " " << h << " " << tag << " ";
out << "{ currentfile "<< (w + 7) / 8 << " string readhexstring pop }\n";
out << "imagemask";
unidraw->GetCatalog()->WriteBitmapData(image, out);
out << "\nEnd\n\n";
return out.good();
}
