Cube::Cube(const position_type &where, std::shared_ptr<Texture> texture )
: Object3D(where) {
// 8 points, 6 surfaces
position_type
blf(-1.0, -1.0, 1.0) // front rectangle
, brf(1.0, -1.0, 1.0)
, trf(1.0, 1.0, 1.0)
, tlf(-1.0, 1.0, 1.0)
, blr(-1.0, -1.0, -1.0) // rear rectangle
, brr(1.0, -1.0, -1.0)
, trr(1.0, 1.0, -1.0)
, tlr(-1.0, 1.0, -1.0);
position_type
negZ(0.0, 0.0, -1.0)
, posZ(0.0, 0.0, 1.0)
, negY(0.0, -1.0, 0.0)
, posY(0.0, 1.0, 0.0)
, negX(-1.0, 0.0, 0.0)
, posX(1.0, 0.0, 0.0);
// if changing the order, make sure to change accessors so they grab the correct object
this->add_child(new Rectangle(POSITION_INHERIT, { blf, blr, brr, brf }, { negY, negY, negY, negY }, texture)); // bottom negY
this->add_child(new Rectangle(POSITION_INHERIT, { trr, brr, blr, tlr }, { negZ, negZ, negZ, negZ }, texture)); // rear negZ
this->add_child(new Rectangle(POSITION_INHERIT, { trf, brf, brr, trr }, { posX, posX, posX, posX }, texture)); // right posX
this->add_child(new Rectangle(POSITION_INHERIT, { tlr, blr, blf, tlf }, { negX, negX, negX, negX }, texture)); // left negX
this->add_child(new Rectangle(POSITION_INHERIT, { tlf, blf, brf, trf }, { posZ, posZ, posZ, posZ }, texture)); // front posZ
this->add_child(new Rectangle(POSITION_INHERIT, { tlr, tlf, trf, trr }, { posY, posY, posY, posY }, texture)); // top posY
} // Cube
void test( const std::string & filename, const Vector3<uint_t> & size, const std::string & datatype, const bool vtkOut )
{
WALBERLA_LOG_INFO( "Testing unscaled" );
BinaryRawFile brf( filename, size, datatype );
auto blocks = blockforest::createUniformBlockGrid( uint_t(1), uint_t( 1 ), uint_t( 1 ),
size[0], size[1], size[2],
real_t( 1 ),
uint_t( 1 ), uint_t( 1 ), uint_t( 1 ) );
typedef GhostLayerField< uint8_t, uint_t( 1 ) > ScalarField;
BlockDataID scalarFieldID = field::addToStorage<ScalarField>( blocks, "BinaryRawFile" );
for ( auto & block : *blocks)
{
auto field = block.getData<ScalarField>( scalarFieldID );
CellInterval ci( 0, 0, 0, cell_idx_c( size[0] ) - 1, cell_idx_c( size[1] ) - 1, cell_idx_c( size[2] ) - 1 );
for (const Cell & c : ci)
{
field->get( c ) = brf.get( uint_c( c[0] ), uint_c( c[1] ), uint_c( c[2] ) );
}
}
if (vtkOut)
{
WALBERLA_LOG_INFO( "Writing unscaled" );
auto vtkOutput = vtk::createVTKOutput_BlockData( blocks, "BinaryRawFile" );
vtkOutput->addCellDataWriter( make_shared< field::VTKWriter< ScalarField, uint8_t > >( scalarFieldID, "BinaryRawFile" ) );
writeFiles( vtkOutput, true )();
}
}
bool RobotBrainServiceService::start(int argc, char* argv[])
#endif
{
MYLOGVERB = LOG_INFO;
char adapterStr[255];
//Create the adapter
int port = RobotBrainObjects::RobotBrainPort;
bool connected = false;
// try to connect to ports until successful
LDEBUG("Opening Connection");
while(!connected)
{
try
{
LINFO("Trying Port:%d", port);
sprintf(adapterStr, "default -p %i", port);
itsAdapter = communicator()->createObjectAdapterWithEndpoints
("GistSal_Navigation", adapterStr);
connected = true;
}
catch(Ice::SocketException)
{
port++;
}
}
//Create the manager and its objects
itsMgr = new ModelManager("BeoRoadFinderService");
LINFO("Starting BeoRoadFinder System");
nub::ref<BeoRoadFinder>
brf(new BeoRoadFinder(*itsMgr, "BeoRoadFinder", "BeoRoadFinder"));
LINFO("BeoRoadFinder created");
itsMgr->addSubComponent(brf);
LINFO("BeoRoadFinder Added As a subcomponent");
brf->init(communicator(), itsAdapter);
LINFO("BeoRoadFinder initiated");
// check command line inputs/options
if (itsMgr->parseCommandLine((const int)argc, (const char**)argv,
"", 0, 0)
== false) return(1);
// activate manager and adapter
itsAdapter->activate();
itsMgr->start();
return true;
}
void testScaled( const std::string & filename, const Vector3<uint_t> & size, const std::string & datatype, const bool vtkOut )
{
WALBERLA_LOG_INFO( "Testing scaled" );
BinaryRawFile brf( filename, size, datatype );
Vector3<uint_t> scaledSize( std::max( uint_t( 1 ), size[0] / uint_t( 2 ) ),
std::max( uint_t( 1 ), size[1] / uint_t( 3 ) ),
std::max( uint_t( 1 ), size[2] / uint_t( 5 ) ) );
auto blocks = blockforest::createUniformBlockGrid( uint_t( 1 ), uint_t( 1 ), uint_t( 1 ),
scaledSize[0], scaledSize[1], scaledSize[2],
real_t( 1 ),
uint_t( 1 ), uint_t( 1 ), uint_t( 1 ) );
BinaryRawFileInterpolator brfi( blocks->getDomain(), brf, BinaryRawFileInterpolator::NEAREST_NEIGHBOR );
typedef GhostLayerField< uint8_t, uint_t( 1 ) > ScalarField;
BlockDataID scalarFieldID = field::addToStorage<ScalarField>( blocks, "BinaryRawFile" );
for (auto & block : *blocks)
{
auto field = block.getData<ScalarField>( scalarFieldID );
CellInterval ci( 0, 0, 0, cell_idx_c( scaledSize[0] ) - 1, cell_idx_c( scaledSize[1] ) - 1, cell_idx_c( scaledSize[2] ) - 1 );
for (const Cell & c : ci)
{
auto pos = blocks->getBlockLocalCellCenter( block, c );
field->get( c ) = brfi.get( pos );
}
}
if (vtkOut)
{
WALBERLA_LOG_INFO( "Writing scaled" );
auto vtkOutput = vtk::createVTKOutput_BlockData( blocks, "BinaryRawFileScaled" );
vtkOutput->addCellDataWriter( make_shared< field::VTKWriter< ScalarField, uint8_t > >( scalarFieldID, "BinaryRawFile" ) );
writeFiles( vtkOutput, true )();
}
}
Cube::Cube( const position_type &where, Texture::pointer_type texture )
: Object( where, texture )
{
glm::vec3
blf( -1.0, -1.0, 1.0 ) // front rectangle
, brf( 1.0, -1.0, 1.0 )
, trf( 1.0, 1.0, 1.0 )
, tlf( -1.0, 1.0, 1.0 )
, blr( -1.0, -1.0, -1.0 ) // rear rectangle
, brr( 1.0, -1.0, -1.0 )
, trr( 1.0, 1.0, -1.0 )
, tlr( -1.0, 1.0, -1.0 )
;
glm::vec3
negZ( 0.0, 0.0, -1.0 )
, posZ( 0.0, 0.0, 1.0 )
, negY( 0.0, -1.0, 0.0 )
, posY( 0.0, 1.0, 0.0 )
, negX( -1.0, 0.0, 0.0 )
, posX( 1.0, 0.0, 0.0 )
;
// gl_triangle strip
// for ccw winding: top left, bottom left, top right, bottom right
auto add_components = [ &]( const std::vector<Component::pointer_type>& vec )
{
for ( auto& v : vec )
this->components.emplace_back( v );
};
add_components( Triangle::from_quad( std::vector<glm::vec3>( { blf, blr, brf, brr } ), negY, texture ) ); // bottom
add_components( Triangle::from_quad( std::vector<glm::vec3>( { trr, brr, tlr, blr } ), negZ, texture ) ); // rear
add_components( Triangle::from_quad( std::vector<glm::vec3>( { trf, brf, trr, brr } ), posX, texture ) ); // right posX
add_components( Triangle::from_quad( std::vector<glm::vec3>( { tlr, blr, tlf, blf } ), negX, texture ) ); // left negX
add_components( Triangle::from_quad( std::vector<glm::vec3>( { tlf, blf, trf, brf } ), posZ, texture ) ); // front posZ
add_components( Triangle::from_quad( std::vector<glm::vec3>( { tlr, tlf, trr, trf } ), posY, texture ) ); // top posY
}
QString KicadSchematic2Svg::convertField(const QString & xString, const QString & yString, const QString & fontSizeString, const QString &orientation,
const QString & hjustify, const QString & vjustify, const QString & t)
{
QString text = t;
bool notName = false;
if (text.startsWith("~")) {
notName = true;
text.remove(0, 1);
}
int x = xString.toInt();
int y = -yString.toInt(); // KiCad flips y-axis w.r.t. svg
int fontSize = fontSizeString.toInt();
bool rotate = (orientation == "V");
QString rotation;
QMatrix m;
if (rotate) {
m = QMatrix().translate(-x, -y) * QMatrix().rotate(-90) * QMatrix().translate(x, y);
// store x, y, and r so they can be shifted correctly later
rotation = QString("transform='%1' _x='%2' _y='%3' _r='-90'").arg(TextUtils::svgMatrix(m)).arg(x).arg(y);
}
QFont font;
font.setFamily(OCRAFontName);
font.setWeight(QFont::Normal);
font.setPointSizeF(72.0 * fontSize / GraphicsUtils::StandardFritzingDPI);
QString style;
if (vjustify.contains("I")) {
style += "font-style='italic' ";
font.setStyle(QFont::StyleItalic);
}
if (vjustify.endsWith("B")) {
style += "font-weight='bold' ";
font.setWeight(QFont::Bold);
}
QString anchor = "middle";
if (vjustify.startsWith("T")) {
anchor = "end";
}
else if (vjustify.startsWith("B")) {
anchor = "start";
}
if (hjustify.contains("L")) {
anchor = "start";
}
else if (hjustify.contains("R")) {
anchor = "end";
}
QFontMetricsF metrics(font);
QRectF bri = metrics.boundingRect(text);
// convert back to 1000 dpi
QRectF brf(0, 0,
bri.width() * GraphicsUtils::StandardFritzingDPI / GraphicsUtils::SVGDPI,
bri.height() * GraphicsUtils::StandardFritzingDPI / GraphicsUtils::SVGDPI);
if (anchor == "start") {
brf.translate(x, y - (brf.height() / 2));
}
else if (anchor == "end") {
brf.translate(x - brf.width(), y - (brf.height() / 2));
}
else if (anchor == "middle") {
brf.translate(x - (brf.width() / 2), y - (brf.height() / 2));
}
if (rotate) {
brf = m.map(QPolygonF(brf)).boundingRect();
}
checkXLimit(brf.left());
checkXLimit(brf.right());
checkYLimit(brf.top());
checkYLimit(brf.bottom());
QString s = QString("<text x='%1' y='%2' font-size='%3' font-family='%8' stroke='none' fill='#000000' text-anchor='%4' %5 %6>%7</text>\n")
.arg(x)
.arg(y + (fontSize / 3))
.arg(fontSize)
.arg(anchor)
.arg(style)
.arg(rotation)
.arg(TextUtils::escapeAnd(unquote(text)))
.arg(OCRAFontName)
;
if (notName) {
s += QString("<line fill='none' stroke='#000000' x1='%1' y1='%2' x2='%3' y2='%4' stroke-width='2' />\n")
.arg(brf.left())
.arg(brf.top())
.arg(rotate ? brf.left() : brf.right())
.arg(rotate ? brf.bottom() : brf.top());
}
return s;
}
