void updateKeyboard()
{
if (keyboard['w'] || keyboard['W'])
{
if (ship->position->y < 20)
{
ship->position->y += 1;
x_angle = fmax(-24, x_angle - 4);
}
}
if (keyboard['s'] || keyboard['S'])
{
if (ship->position->y > -5)
{
ship->position->y -= 1;
x_angle = fmin(24, x_angle + 4);
}
}
if (keyboard['a'] || keyboard['A'])
{
if (ship->position->x < 12)
{
ship->position->x +=1;
z_angle = fmax(-35, z_angle - 5);
}
}
if (keyboard['d'] || keyboard['D'])
{
if (ship->position->x > -12)
{
ship->position->x -= 1;
z_angle = fmin(35, z_angle + 5);
}
}
if (keyboard['e'] || keyboard['E']) {
forceField = TRUE;
beginFF = glutGet(GLUT_ELAPSED_TIME);
}
if (keyboard['u'] || keyboard['U'])
{ if (shootAcc > 20)
{
shipShoot();
shootAcc = 0.0;
} else shootAcc += 10;
}
if (keyboard['q'] || keyboard['Q']) {
freeCenario();
exit(EXIT_SUCCESS);
}
if (!keyboard['w'] && !keyboard['W'] && !keyboard['s'] && !keyboard['S'])
x_angle = closeToZero(x_angle, 4);
if (!keyboard['a'] && !keyboard['A'] && !keyboard['d'] && !keyboard['D'])
z_angle = closeToZero(z_angle, 5);
ship->orientation->y = ship->position->y - tan(x_angle * PI/180) * 15;
ship->orientation->x = ship->position->x;
}
bool hasZeros (double minx, double miny, double maxx, double maxy, double normx, double normy) {
pdal::Options readerOptions;
readerOptions.add("connection", "host='localhost' dbname='lidar' user='******'");
readerOptions.add("table", "lidar");
readerOptions.add("column", "pa");
readerOptions.add("srid", 3857);
char buf [4096];
snprintf(buf, sizeof(buf) - 1,
"PC_Intersects(pa, ST_MakeEnvelope(%lf,%lf,%lf,%lf,3857))",
minx, miny, maxx, maxy);
buf[sizeof(buf) - 1] = 0;
readerOptions.add("where", buf);
boost::shared_ptr<pdal::drivers::pgpointcloud::Reader> pReader(new
pdal::drivers::pgpointcloud::Reader(readerOptions));
pReader->initialize();
std::cout << "Query: " << buf << " ::: " << pReader->getNumPoints() << " points" << std::endl;
pdal::PointBuffer pbuf(pReader->getSchema(), pReader->getNumPoints());
pdal::StageSequentialIterator* iterator = pReader->createSequentialIterator(pbuf);
iterator->read(pbuf);
//std::cout << pbuf.getSchema() << std::endl;
// read in points
pdal::Dimension const& x = pbuf.getSchema().getDimension("X");
pdal::Dimension const& y = pbuf.getSchema().getDimension("Y");
pdal::Dimension const& z = pbuf.getSchema().getDimension("Z");
size_t origin_points = 0;
for (size_t i = 0, il = pReader->getNumPoints() ; i < il ; i ++) {
float x_ = static_cast<float>(x.applyScaling(pbuf.getField<int>(x, i))) - normx,
y_ = static_cast<float>(y.applyScaling(pbuf.getField<int>(y, i))) - normy,
z_ = static_cast<float>(z.applyScaling(pbuf.getField<int>(z, i)));
if (closeToZero(x_) &&
closeToZero(y_)) {
origin_points ++;
}
}
std::cout << "Volume point stats: origin: " << origin_points << std::endl;
return origin_points > 0;
}
