public BilateralFiltering(float[,] image, float sigmaD, float sigmaR)
{
this.image = image;
var sigmaMax = (int)FastMath.Max(sigmaD, sigmaR);
kernelRadius = (int)FastMath.Ceiling(2 * sigmaMax);
var twoSigmaRSquared = 2 * sigmaR * sigmaR;
var kernelSize = kernelRadius * 2 + 1;
kernelD = new float[kernelSize, kernelSize];
var center = (kernelSize - 1) / 2;
for (var x = -center; x < -center + kernelSize; x++)
{
for (var y = -center; y < -center + kernelSize; y++)
{
kernelD[x + center, y + center] = gauss(sigmaD, x, y);
}
}
gaussSimilarity = new float[256];
for (var i = 0; i < gaussSimilarity.Length; i++)
{
gaussSimilarity[i] = FastMath.Exp(-(i / twoSigmaRSquared));
}
//rimage = cvCloneImage(image);
}
public BilateralFiltering(float[,] image, float sigmaD, float sigmaR)
{
this.image = image;
int sigmaMax = (int)FastMath.Max(sigmaD, sigmaR);
this.kernelRadius = (int)FastMath.Ceiling(2 * sigmaMax);
float twoSigmaRSquared = 2 * sigmaR * sigmaR;
int kernelSize = this.kernelRadius * 2 + 1;
this.kernelD = new float[kernelSize, kernelSize];
int center = (kernelSize - 1) / 2;
for (int x = -center; x < -center + kernelSize; x++)
{
for (int y = -center; y < -center + kernelSize; y++)
{
this.kernelD[x + center, y + center] = this.gauss(sigmaD, x, y);
}
}
this.gaussSimilarity = new float[256];
for (int i = 0; i < this.gaussSimilarity.Length; i++)
{
this.gaussSimilarity[i] = FastMath.Exp((float)-((i) / twoSigmaRSquared));
}
//rimage = cvCloneImage(image);
}
/// <summary>
/// testea colisiones de picking
/// </summary>
private void testPicking()
{
//de los objetos visibles, testeo colisiones con el picking ray
foreach (InteractiveObject objeto in MyWorld.Objetos)
{
if (objeto.mesh.Enabled)
{
collided = TgcCollisionUtils.intersectRayAABB(pickingRay.Ray, objeto.mesh.BoundingBox, out collisionPoint);
if (collided)
{
Vector3 aux = new Vector3(0f, 0f, 0f);
aux.Add(Camara.Position);
aux.Subtract(objeto.mesh.Position);
if (FastMath.Ceiling(aux.Length()) < 65)
{
pickedObject = objeto;
if (pickedObject.getHit(Player1.getDamage()))
{
setCenterText(Player1.getDamage().ToString() + " Damage");
MyWorld.destroyObject(pickedObject);
if (pickedObject.Equals(collidedObject))
{
MyCamera.Collisioned = false;
}
List <InventoryObject> drops = pickedObject.getDrops();
foreach (InventoryObject invObject in drops)
{
//agrego los drops al inventario del usuario
if (!Player1.addInventoryObject(invObject))
{
//no pudo agregar el objeto
setTopRightText("No hay espacio en el inventario");
}
}
}
break;
}
else
{
collided = false;
}
}
}
}
//si hubo colisión
if (collided)
{
//a darle átomos
emit = true;
emittedTime = 0;
emitter.Position = pickedObject.mesh.Position;
}
}
public Tuple <TGCBox, RigidBody> addBox(TGCVector3 pos, TGCVector3 size, TgcTexture text, float mass = 0f, float friction = 0f, float?inertia = null)
{
var box = TGCBox.fromSize(size, text);
var uv = FastMath.Max(size.Y, FastMath.Max(size.X, size.Z));
box.UVTiling = new TGCVector2(FastMath.Ceiling(uv / 80), FastMath.Ceiling(uv / 80));
box.updateValues();
var boxBody = BulletRigidBodyConstructor.CreateBox(box.Size * 0.5f, mass, pos, 0, 0, 0, friction, inertia);
dynamicsWorld.AddRigidBody(boxBody);
var pair = new Tuple <TGCBox, RigidBody>(box, boxBody);
boxes.Add(pair);
box.AutoTransform = false;
boxBody.Restitution = 0f;
return(pair);
}
/// <summary>
/// Construye la grilla
/// </summary>
private GrillaRegularNode[,,] buildGrid(List <TgcMesh> modelos, TgcBoundingAxisAlignBox sceneBounds, Vector3 cellDim)
{
var sceneSize = sceneBounds.calculateSize();
var gx = (int)FastMath.Ceiling(sceneSize.X / cellDim.X) + 1;
var gy = (int)FastMath.Ceiling(sceneSize.Y / cellDim.Y) + 1;
var gz = (int)FastMath.Ceiling(sceneSize.Z / cellDim.Z) + 1;
var grid = new GrillaRegularNode[gx, gy, gz];
//Construir grilla
for (var x = 0; x < gx; x++)
{
for (var y = 0; y < gy; y++)
{
for (var z = 0; z < gz; z++)
{
//Crear celda
var node = new GrillaRegularNode();
//Crear BoundingBox de celda
var pMin = new Vector3(sceneBounds.PMin.X + x * cellDim.X, sceneBounds.PMin.Y + y * cellDim.Y,
sceneBounds.PMin.Z + z * cellDim.Z);
var pMax = Vector3.Add(pMin, cellDim);
node.BoundingBox = new TgcBoundingAxisAlignBox(pMin, pMax);
//Cargar modelos en celda
node.Models = new List <TgcMesh>();
addModelsToCell(node, modelos);
grid[x, y, z] = node;
}
}
}
return(grid);
}
public virtual bool editTerrain(float elapsedTime)
{
var speed = elapsedTime * getSpeedAdjustment();
if (Invert)
{
speed *= -1;
}
var radius = Radius / terrain.ScaleXZ;
var innerRadius = radius * (Hardness / 100);
var radius2 = FastMath.Pow2(radius);
var innerRadius2 = FastMath.Pow2(innerRadius);
TGCVector2 coords;
var heightmapData = terrain.HeightmapData;
var changed = false;
if (!terrain.xzToHeightmapCoords(Position.X, Position.Z, out coords))
{
return(false);
}
//Calculo un cuadrado alrededor del vertice seleccionado
int[] min = { (int)FastMath.Ceiling(coords.X - radius), (int)FastMath.Ceiling(coords.Y - radius) };
float[] max = { coords.X + radius, coords.Y + radius };
for (var i = 0; i < 2; i++)
{
if (min[i] < 0)
{
min[i] = 0;
}
if (max[i] > heightmapData.GetLength(i))
{
max[i] = heightmapData.GetLength(i);
}
}
for (var i = min[0]; i < max[0]; i++)
{
for (var j = min[1]; j < max[1]; j++)
{
var dx = i - coords.X;
var dz = j - coords.Y;
var d2 = FastMath.Pow2(dx) + FastMath.Pow2(dz);
//Si es cuadrado o el vertice esta dentro del circulo
if (!Rounded || d2 <= radius2)
{
var intensity = intensityFor(heightmapData, i, j);
if (intensity != 0)
{
if (Hardness != 100)
{
//Si esta entre el circulo/cuadrado interno, disminuyo la intensidad.
if (Rounded)
{
var outterIntensity = intensity * (1 - d2 / radius2);
if (d2 > innerRadius2)
{
intensity = outterIntensity;
}
else
{
var alpha = 1 - d2 / innerRadius2;
intensity = outterIntensity + alpha * (intensity - outterIntensity);
}
}
else
{
var maxD = FastMath.Max(FastMath.Abs(dx), FastMath.Abs(dz));
if (maxD > innerRadius)
{
intensity = intensity * (1 - (maxD - innerRadius) / (radius - innerRadius));
}
}
}
var newHeight = FastMath.Max(0, FastMath.Min(heightmapData[i, j] + intensity * speed, 255));
if (heightmapData[i, j] != newHeight)
{
heightmapData[i, j] = newHeight;
changed = true;
}
}
}
}
}
if (changed)
{
terrain.setHeightmapData(heightmapData);
float y;
terrain.interpoledHeight(bBrush.Position.X, bBrush.Position.Z, out y);
bBrush.Position = new TGCVector3(bBrush.Position.X, y + 50, bBrush.Position.Z);
}
return(changed);
}
public override void UpdateCamera(float elapsedTime)
{
var moveVector = new Vector3(0, 0, 0);
// Al mover el mouse se mueve la cabeza (genera mayor realismo)
LockCam = true;
//Aplicar movimiento hacia adelante o atras segun la orientacion actual del Mesh
var lastPos = this.Position;
if (!env.personaje.Muerto && !env.partidoGanado)
{
//Forward
if (Input.keyDown(Key.W))
{
// Fuerzo a que el Personaje este siempre sobre la Isla
if (env.terreno.estaDentroTerreno())
{
moveVector += new Vector3(0, 0, -1) * MovementSpeed;
}
else
{
moveVector -= new Vector3(0, 0, -10) * MovementSpeed;
}
}
//Backward
if (Input.keyDown(Key.S))
{
// Fuerzo a que el Personaje este siempre sobre la Isla
if (env.terreno.estaDentroTerreno())
{
moveVector += new Vector3(0, 0, 1) * MovementSpeed;
}
else
{
moveVector -= new Vector3(0, 0, 10) * MovementSpeed;
}
}
//Strafe right
if (Input.keyDown(Key.D))
{
// Fuerzo a que el Personaje este siempre sobre la Isla
if (env.terreno.estaDentroTerreno())
{
moveVector += new Vector3(-1, 0, 0) * MovementSpeed;
}
else
{
moveVector -= new Vector3(-10, 0, 0) * MovementSpeed;
}
}
//Strafe left
if (Input.keyDown(Key.A))
{
// Fuerzo a que el Personaje este siempre sobre la Isla
if (env.terreno.estaDentroTerreno())
{
moveVector += new Vector3(1, 0, 0) * MovementSpeed;
}
else
{
moveVector -= new Vector3(10, 0, 0) * MovementSpeed;
}
}
// Gods
if (Input.keyDown(Key.G))
{
env.alturaCamara = 200f;
env.modoDios = true;
}
// Normal
if (Input.keyDown(Key.N))
{
env.alturaCamara = 10f;
env.modoDios = false;
}
// Teclas de Menu
if (Input.keyPressed(Key.UpArrow) && env.opcionMenuSelecionado > 0)
{
env.opcionMenuSelecionado -= 1;
}
if (Input.keyPressed(Key.DownArrow) && env.opcionMenuSelecionado < 2)
{
env.opcionMenuSelecionado += 1;
}
switch (env.opcionMenuSelecionado)
{
case 0:
env.buttonSelected.Position = new Vector2(((float)D3DDevice.Instance.Width / 2) - 150, 210);
break;
case 1:
env.buttonSelected.Position = new Vector2(((float)D3DDevice.Instance.Width / 2) - 150, 280);
break;
case 2:
env.buttonSelected.Position = new Vector2(((float)D3DDevice.Instance.Width / 2) - 150, 350);
break;
}
//Run
if (Input.keyDown(Key.LeftShift))
{
// Fuerzo a que el Personaje este siempre sobre la Isla
if (env.terreno.estaDentroTerreno())
{
moveVector += new Vector3(0, 1, 0) * JumpSpeed;
}
else
{
moveVector -= new Vector3(0, 10, 0) * JumpSpeed;
}
}
}
//Detectar colisiones
var collide = false;
foreach (var obstaculo in env.terreno.SceneMeshes)
{
if (TgcCollisionUtils.testSphereAABB(env.personaje.BoundingSphere, obstaculo.BoundingBox))
{
env.personaje.BoundingSphere.setRenderColor(Color.Red);
collide = true;
break;
}
}
if (!env.personaje.Muerto && !env.partidoGanado)
{
//Si hubo colision, restaurar la posicion anterior de la camara
if (collide)
{
moveVector -= new Vector3(0, 0, -1) * MovementSpeed;
}
// Aplico la rotacion de la camara
leftrightRot -= -Input.XposRelative * RotationSpeed;
updownRot -= Input.YposRelative * RotationSpeed;
//Se actualiza matrix de rotacion, para no hacer este calculo cada vez y solo cuando en verdad es necesario.
cameraRotation = Matrix.RotationX(updownRot) * Matrix.RotationY(leftrightRot);
if (lockCam)
{
Cursor.Position = mouseCenter;
}
//Calculamos la nueva posicion del ojo segun la rotacion actual de la camara.
var cameraRotatedPositionEye = Vector3.TransformNormal(moveVector * elapsedTime, cameraRotation);
positionEye += cameraRotatedPositionEye;
//Calculamos el target de la camara, segun su direccion inicial y las rotaciones en screen space x,y.
var cameraRotatedTarget = Vector3.TransformNormal(directionView, cameraRotation);
var cameraFinalTarget = positionEye + cameraRotatedTarget;
var cameraOriginalUpVector = DEFAULT_UP_VECTOR;
var cameraRotatedUpVector = Vector3.TransformNormal(cameraOriginalUpVector, cameraRotation);
base.SetCamera(positionEye, cameraFinalTarget, cameraRotatedUpVector);
// Posiciono la Camara a la Altura del Terreno según las coordenadas actuales
var posicionCamaraTerrenoOriginal = env.terreno.CalcularAlturaTerreno(
FastMath.Ceiling(positionEye.X / env.terreno.SceneScaleXZ),
FastMath.Ceiling(positionEye.Z / env.terreno.SceneScaleXZ)
, true) + env.alturaCamara;
var newpositionEye = new Vector3(positionEye.X, posicionCamaraTerrenoOriginal * env.terreno.SceneScaleY, positionEye.Z);
var newcameraFinalTarget = newpositionEye + cameraRotatedTarget;
base.SetCamera(newpositionEye, newcameraFinalTarget, cameraRotatedUpVector);
//var posicionHacha = new Vector3(env.personaje.hachaPersonaje.Position.X + leftrightRot - 1, env.personaje.hachaPersonaje.Position.Y, env.personaje.hachaPersonaje.Position.Z);
//Vector3 dirView = env.Camara.LookAt - env.Camara.Position;
//env.personaje.hachaPersonaje.Transform = Matrix.Translation(posicionHacha) * cameraRotation;
//env.personaje.hachaPersonaje.Transform = env.Camara.LookAt;
//env.personaje.hachaPersonaje.Rotation = cameraRotatedPositionEye;
//env.personaje.hachaPersonaje.Rotation = dirView;
}
}