void create_model_indices(LaserDataSceneNode node, ushort sides, ushort slices)
{
// crear los indices
MeshBuffer mbuffer = node.get_mesh_buffer();
//uint ind_count =(uint)( (slices - 1) * (sides - 1) * 12);
uint ind_count = (uint)((slices - 1) * (sides - 1) * 6);
mbuffer.AllocateIndices(ind_count);
m_buffer_index = 0;
for (ushort i = 0; i < slices - 1; i++)
{
for (ushort j = 0; j < sides - 1; j++)
{
//first triangle
mbuffer.SetIndex(m_buffer_index, (ushort)((i + 1) * sides + j));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index, (ushort)((i + 1) * sides + j + 1));
m_buffer_index++;
//second triangle
mbuffer.SetIndex(m_buffer_index, (ushort)((i + 1) * sides + j + 1));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j + 1));
m_buffer_index++;
/*
* //third triangle
* mbuffer.SetIndex(m_buffer_index, (ushort)((i + 1) * sides + j));
* m_buffer_index++;
* mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j));
* m_buffer_index++;
* mbuffer.SetIndex(m_buffer_index, (ushort)((i + 1) * sides + j + 1));
* m_buffer_index++;
*
* //fourth triangle
* mbuffer.SetIndex(m_buffer_index, (ushort)((i + 1) * sides + j + 1));
* m_buffer_index++;
* mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j));
* m_buffer_index++;
* mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j + 1));
* m_buffer_index++;*/
}
}
}
public bool init_scene()
{
_scene.AddCameraSceneNode(null);
_scene.ActiveCamera.Position = new Vector3D(0, -15, 0);
_scene.ActiveCamera.Target = new Vector3D();
_scene.AddLightSceneNode(null, new Vector3D(20, -15, 3), new Colorf(1.0f, 1.0f, 1.0f, 1.0f), 100.0f, -1);
_scene.AddLightSceneNode(null, new Vector3D(-20, -15, -4), new Colorf(1.0f, 1.0f, 1.0f, 1.0f), 100.0f, -1);
_model3D = new LaserDataSceneNode(null, _scene, 666);
return(true);
}
/// <summary>
/// Convierte los datos almacenados en un Objeto 3D. Se toma en cuenta el
/// tipo de barrido (angular o linear vertical).
/// </summary>
/// <param name="node">El nodo Irrlicht donde se representarán los datos</param>
public void export_to_model(LaserDataSceneNode node)
{
if (node.has_vertices() == false)
{
node.create_mesh();
}
if (m_vertical_sampler_angular)
{
export_to_model_angular(node);
}
else
{
export_to_model_linear(node);
}
node._mgr.MeshManipulator.RecalculateNormals(node._mesh, true);
}
private void export_to_model_angular(LaserDataSceneNode node)
{
float min_angle = m_current_laser_buffer.get_min_angle();
float ang_increment = m_current_laser_buffer.get_resolution() * m_mesh_resolution;
uint num_h_samples = m_current_laser_buffer.get_distance_count();
uint horizontal_count = num_h_samples / m_mesh_resolution;
float vertical_increment = (m_vertical_sampler_max - m_vertical_sampler_min) / m_vertical_sampler_count;
ushort sides = (ushort)horizontal_count;
ushort slices = (ushort)m_vertical_sampler_count;
// crear los vertices
MeshBuffer mbuffer = node.get_mesh_buffer();
uint vert_count = (uint)(sides * slices);
mbuffer.AllocateVertices(vert_count);
m_buffer_index = 0;
float vertical_value = m_vertical_sampler_min;
float angular_value = min_angle;
for (ushort i = 0; i < slices; i++)
{
angular_value = min_angle;
for (ushort j = 0; j < sides; j++)
{
float distance = m_laser_distances[num_h_samples * i + j * m_mesh_resolution];
Vector3D pivot = new Vector3D();
Vector3D normal = new Vector3D();
normal.Z = -(float)Math.Cos(deg_to_rad((double)angular_value));
normal.Y = -(float)Math.Sin(deg_to_rad((double)angular_value));
normal.X = 0;
normal.RotateXYBy(vertical_value, new Vector3D());
//normal.X = (float)Math.Sin(deg_to_rad((double)vertical_value)); ;
pivot.Z = normal.Z * distance;
pivot.Y = normal.Y * distance;
pivot.X = normal.X * distance;
Vertex3D newvertex = new Vertex3D();
newvertex.Position = pivot;
newvertex.Normal = normal;
newvertex.Color = new Color(255, 255, 0, 100);
newvertex.TCoords = new Vector2D(1, 1);
mbuffer.SetVertex(m_buffer_index, newvertex);
m_buffer_index++;
angular_value += ang_increment;
}
vertical_value += vertical_increment;
}
create_model_indices(node, sides, slices);
}
public bool init_scene()
{
_scene.AddCameraSceneNode(null);
_scene.ActiveCamera.Position = new Vector3D(0, -15, 0);
_scene.ActiveCamera.Target = new Vector3D();
_scene.AddLightSceneNode(null, new Vector3D(20, -15, 3), new Colorf(1.0f, 1.0f, 1.0f, 1.0f), 100.0f, -1);
_scene.AddLightSceneNode(null, new Vector3D(-20, -15, -4), new Colorf(1.0f, 1.0f, 1.0f, 1.0f), 100.0f, -1);
_model3D = new LaserDataSceneNode(null, _scene, 666);
return true;
}
private void export_to_model_linear(LaserDataSceneNode node)
{
float min_angle = m_current_laser_buffer.get_min_angle();
float ang_increment = m_current_laser_buffer.get_resolution() * m_mesh_resolution;
uint num_h_samples = m_current_laser_buffer.get_distance_count();
uint horizontal_count = num_h_samples / m_mesh_resolution;
float vertical_increment = m_vertical_scale * (m_vertical_sampler_max - m_vertical_sampler_min) / m_vertical_sampler_count;
ushort sides = (ushort)horizontal_count;
ushort slices = (ushort)m_vertical_sampler_count;
// crear los vertices
MeshBuffer mbuffer = node.get_mesh_buffer();
uint vert_count = (uint)(sides * slices);
mbuffer.AllocateVertices(vert_count);
m_buffer_index = 0;
float vertical_value = m_vertical_sampler_min * m_vertical_scale;
float angular_value = min_angle;
for (ushort i = 0; i < slices; i++)
{
angular_value = min_angle;
for (ushort j = 0; j < sides; j++)
{
float distance = m_laser_distances[num_h_samples*i + j*m_mesh_resolution];
Vector3D pivot = new Vector3D();
Vector3D normal = new Vector3D();
normal.Z = -(float)Math.Cos(deg_to_rad((double)angular_value));
normal.Y = -(float)Math.Sin(deg_to_rad((double)angular_value));
normal.X = 0;
pivot.Z = normal.Z * distance;
pivot.Y = normal.Y * distance;
pivot.X = vertical_value;
Vertex3D newvertex = new Vertex3D();
newvertex.Position = pivot;
newvertex.Normal = normal;
newvertex.Color = new Color(255, 0, 0, 150);
newvertex.TCoords = new Vector2D(1, 1);
mbuffer.SetVertex(m_buffer_index, newvertex);
m_buffer_index++;
angular_value += ang_increment;
}
vertical_value += vertical_increment;
}
create_model_indices(node, sides, slices);
}
void create_model_indices(LaserDataSceneNode node, ushort sides, ushort slices)
{
// crear los indices
MeshBuffer mbuffer = node.get_mesh_buffer();
//uint ind_count =(uint)( (slices - 1) * (sides - 1) * 12);
uint ind_count = (uint)((slices - 1) * (sides - 1) * 6);
mbuffer.AllocateIndices(ind_count);
m_buffer_index = 0;
for (ushort i = 0; i < slices - 1; i++)
{
for (ushort j = 0; j < sides - 1; j++)
{
//first triangle
mbuffer.SetIndex(m_buffer_index, (ushort)((i + 1) * sides + j));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index,(ushort)((i + 1) * sides + j + 1));
m_buffer_index++;
//second triangle
mbuffer.SetIndex(m_buffer_index, (ushort)((i + 1) * sides + j + 1));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j + 1));
m_buffer_index++;
/*
//third triangle
mbuffer.SetIndex(m_buffer_index, (ushort)((i + 1) * sides + j));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index, (ushort)((i + 1) * sides + j + 1));
m_buffer_index++;
//fourth triangle
mbuffer.SetIndex(m_buffer_index, (ushort)((i + 1) * sides + j + 1));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j));
m_buffer_index++;
mbuffer.SetIndex(m_buffer_index, (ushort)(i * sides + j + 1));
m_buffer_index++;*/
}
}
}
/// <summary>
/// Convierte los datos almacenados en un Objeto 3D. Se toma en cuenta el
/// tipo de barrido (angular o linear vertical).
/// </summary>
/// <param name="node">El nodo Irrlicht donde se representarán los datos</param>
public void export_to_model(LaserDataSceneNode node)
{
if (node.has_vertices() == false)
{
node.create_mesh();
}
if (m_vertical_sampler_angular)
{
export_to_model_angular(node);
}
else
{
export_to_model_linear(node);
}
node._mgr.MeshManipulator.RecalculateNormals(node._mesh, true);
}
