public static double Test6_Bunny_ExpectedError(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
string path = AppDomain.CurrentDomain.BaseDirectory + "TestData";
Model3D model3DTarget = new Model3D(path + "\\bunny.obj");
myVerticesTarget = model3DTarget.VertexList;
Vertices.GetVertexMax(myVerticesTarget);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
Matrix3d R = new Matrix3d();
//ICP converges with a rotation of
//R = R.RotationXYZ(60, 60, 60);
R = R.RotationXYZ(65, 65, 65);
VertexUtils.RotateVertices(myVerticesSource, R);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static MeshPrimitive WithVertexAccessors <TVertex>(this MeshPrimitive primitive, IReadOnlyList <TVertex> vertices)
where TVertex : IVertexBuilder
{
var memAccessors = VertexUtils.CreateVertexMemoryAccessors(vertices, new PackedEncoding());
return(primitive.WithVertexAccessors(memAccessors));
}
public override void OnSingleClick(ProceduralObject obj)
{
foreach (var po in selection)
{
if (po.isRootOfGroup && logic.selectedGroup == null)
{
Quaternion diff = obj.m_rotation * Quaternion.Inverse(po.m_rotation);
foreach (var o in po.group.objects)
{
o.historyEditionBuffer.InitializeNewStep(EditingStep.StepType.moveTo, null);
o.SetRotation(diff * o.m_rotation);
if (o != po)
{
o.SetPosition(VertexUtils.RotatePointAroundPivot(o.m_position, po.m_position, diff));
}
o.historyEditionBuffer.ConfirmNewStep(null);
}
}
else
{
po.historyEditionBuffer.InitializeNewStep(EditingStep.StepType.rotation, null);
po.SetRotation(obj.m_rotation);
po.historyEditionBuffer.ConfirmNewStep(null);
}
}
ExitAction();
}
private void resize(int amountVertices)
{
if (IsDisposed)
{
throw new ObjectDisposedException(ToString(), "Can not resize disposed vertex buffers.");
}
T[] oldVertices = Vertices;
Vertices = new T[amountVertices];
if (oldVertices != null)
{
for (int i = 0; i < oldVertices.Length && i < Vertices.Length; ++i)
{
Vertices[i] = oldVertices[i];
}
}
if (GLWrapper.BindBuffer(BufferTarget.ArrayBuffer, vboId))
{
VertexUtils <T> .Bind();
}
GL.BufferData(BufferTarget.ArrayBuffer, (IntPtr)(Vertices.Length * STRIDE), IntPtr.Zero, usage);
}
//private static List<Vertex> verticesTarget;
//private static List<Vertex> verticesSource;
// private static List<Vertex> vectorsResult;
public static double Test1_Translation(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateSomePoints();
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.TranslateVertices(myVerticesSource, 10, 3, 8);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_CubeScale_Inhomogenous(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.ScaleByVector(myVerticesSource, new Vertex(1, 2, 3));
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public override void LoadData(Dictionary <string, string> data, bool fromSaveGame)
{
if (data.ContainsKey("point0"))
{
point0 = VertexUtils.ParseVector3(data["point0"]);
}
if (data.ContainsKey("repeat"))
{
repeat = bool.Parse(data["repeat"]);
}
if (data.ContainsKey("state"))
{
state = bool.Parse(data["state"]);
}
if (data.ContainsKey("timeSpeed"))
{
timeSpeed = float.Parse(data["timeSpeed"]);
}
if (data.ContainsKey("gravity"))
{
gravity = float.Parse(data["gravity"]);
}
if (data.ContainsKey("initialSpeed"))
{
initialSpeed = VertexUtils.ParseVector3(data["initialSpeed"]);
}
if (data.ContainsKey("bounceTimes"))
{
bounceTimes = int.Parse(data["bounceTimes"]);
}
if (data.ContainsKey("bounceFactor"))
{
bounceFactor = float.Parse(data["bounceFactor"]);
}
if (data.ContainsKey("groupFollows"))
{
groupFollows = bool.Parse(data["groupFollows"]);
}
if (data.ContainsKey("t"))
{
t = int.Parse(data["t"]);
}
if (data.ContainsKey("vy"))
{
vy = float.Parse(data["vy"]);
}
if (data.ContainsKey("points"))
{
points = data["points"].Split(new string[] { "|" }, StringSplitOptions.RemoveEmptyEntries).ToList().ConvertAll <Vector3>(x => VertexUtils.ParseVector3(x));
}
if (data.ContainsKey("vys"))
{
vys = data["vys"].Split(new string[] { "|" }, StringSplitOptions.RemoveEmptyEntries).ToList().ConvertAll <float>(x => float.Parse(x));
}
}
public static double Test5_CubeTranslation(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.TranslateVertices(myVerticesSource, 0, -300, 0);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
/// <summary>
/// Initialises this <see cref="VertexBuffer{T}"/>. Guaranteed to be run on the draw thread.
/// </summary>
protected virtual void Initialise()
{
ThreadSafety.EnsureDrawThread();
GL.GenBuffers(1, out vboId);
if (GLWrapper.BindBuffer(BufferTarget.ArrayBuffer, vboId))
VertexUtils<DepthWrappingVertex<T>>.Bind();
GL.BufferData(BufferTarget.ArrayBuffer, (IntPtr)(vertices.Length * STRIDE), IntPtr.Zero, usage);
}
public static Type GetMeshBuilderType(Type materialType, string[] vertexAttributes)
{
var tvg = VertexUtils.GetVertexGeometryType(vertexAttributes);
var tvm = VertexUtils.GetVertexMaterialType(vertexAttributes);
var tvs = VertexUtils.GetVertexSkinningType(vertexAttributes);
var meshType = typeof(MeshBuilder <, , ,>);
meshType = meshType.MakeGenericType(materialType, tvg, tvm, tvs);
return(meshType);
}
public static double Test9_Inhomogenous(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
//myVerticesTarget = Vertices.CreateSomePoints();
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.InhomogenousTransform(myVerticesSource, 2);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test3_Scale(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
//myVerticesTarget = CreateSomePoints();
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.ScaleByFactor(myVerticesSource, 0.2);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public virtual void Bind(bool forRendering)
{
if (IsDisposed)
{
throw new ObjectDisposedException(ToString(), "Can not bind disposed vertex buffers.");
}
if (GLWrapper.BindBuffer(BufferTarget.ArrayBuffer, vboId))
{
VertexUtils <T> .Bind();
}
}
public static MeshPrimitive WithVertexAccessors <TVertex>(this MeshPrimitive primitive, IReadOnlyList <TVertex> vertices)
where TVertex : IVertexBuilder
{
var indices = vertices.Select(item => item.GetSkinning().GetWeights().MaxIndex);
var maxIndex = indices.Any() ? indices.Max() : 0;
var encoding = maxIndex < 256 ? Schema2.EncodingType.UNSIGNED_BYTE : EncodingType.UNSIGNED_SHORT;
var memAccessors = VertexUtils.CreateVertexMemoryAccessors(vertices, encoding);
return(primitive.WithVertexAccessors(memAccessors));
}
public void DoSlope(bool oriented)
{
var maxObjects = VertexUtils.OutmostPoints(selection.ToArray());
float heightDiff = maxObjects.Value.m_position.y - maxObjects.Key.m_position.y;
float distDiff = Vector2.Distance(maxObjects.Value.m_position.AsXZVector2(), maxObjects.Key.m_position.AsXZVector2());
Vector3 flatDirection = new Vector3(maxObjects.Value.m_position.x, 0, maxObjects.Value.m_position.z) - new Vector3(maxObjects.Key.m_position.x, 0, maxObjects.Key.m_position.z);
Quaternion rotDiff = Quaternion.FromToRotation(flatDirection, maxObjects.Value.m_position - maxObjects.Key.m_position);
foreach (var po in selection)
{
var localdistdiff = Vector3.Project((po.m_position - maxObjects.Key.m_position).NullY(), (maxObjects.Value.m_position - maxObjects.Key.m_position).NullY()).magnitude;
var localheightdiff = (po == maxObjects.Key) ? 0f : ((po == maxObjects.Value) ? heightDiff : heightDiff * localdistdiff / distDiff);
if (po.isRootOfGroup && logic.selectedGroup == null)
{
foreach (var o in po.group.objects)
{
if (oriented)
{
o.historyEditionBuffer.InitializeNewStep(EditingStep.StepType.moveTo, null);
o.SetPosition(new Vector3(o.m_position.x, localheightdiff + maxObjects.Key.m_position.y, o.m_position.z));
o.SetRotation(rotDiff * o.m_rotation);
if (o != po)
{
o.m_position = VertexUtils.RotatePointAroundPivot(o.m_position, po.m_position, rotDiff);
}
}
else
{
o.historyEditionBuffer.InitializeNewStep(EditingStep.StepType.position, null);
o.SetPosition(new Vector3(o.m_position.x, localheightdiff + maxObjects.Key.m_position.y, o.m_position.z));
}
o.historyEditionBuffer.ConfirmNewStep(null);
}
}
else
{
if (oriented)
{
po.historyEditionBuffer.InitializeNewStep(EditingStep.StepType.moveTo, null);
po.SetRotation(rotDiff * po.m_rotation);
}
else
{
po.historyEditionBuffer.InitializeNewStep(EditingStep.StepType.position, null);
}
po.SetPosition(new Vector3(po.m_position.x, localheightdiff + maxObjects.Key.m_position.y, po.m_position.z));
po.historyEditionBuffer.ConfirmNewStep(null);
}
}
}
public virtual void Bind(bool forRendering)
{
if (IsDisposed)
throw new ObjectDisposedException(ToString(), "Can not bind disposed vertex buffers.");
if (!isInitialised)
{
Initialise();
isInitialised = true;
}
if (GLWrapper.BindBuffer(BufferTarget.ArrayBuffer, vboId))
VertexUtils<DepthWrappingVertex<T>>.Bind();
}
public static double Test2_RotationX30Degrees(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
//myVerticesTarget = Vertices.CreateSomePoints();
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
Matrix3d R = Matrix3d.CreateRotationX(30);
VertexUtils.RotateVertices(myVerticesSource, R);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public static double Test5_CubeRotate(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
Matrix3d R = new Matrix3d();
R = R.RotateSome();
VertexUtils.RotateVertices(myVerticesSource, R);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public Type GetCompatibleVertexType()
{
var hasNormals = Normals != null;
var hasTangents = hasNormals && Tangents != null;
int numCols = 0;
if (Colors0 != null)
{
numCols = 1;
}
if (numCols == 1 && Colors1 != null)
{
numCols = 2;
}
int numTexs = 0;
if (TexCoords0 != null)
{
numTexs = 1;
}
if (numTexs == 1 && TexCoords1 != null)
{
numTexs = 2;
}
if (numTexs == 2 && TexCoords2 != null)
{
numTexs = 3;
}
if (numTexs == 3 && TexCoords3 != null)
{
numTexs = 4;
}
int numJoints = 0;
if (Joints0 != null)
{
numJoints = 4;
}
if (Joints0 != null && Joints1 != null)
{
numJoints = 8;
}
return(VertexUtils.GetVertexBuilderType(hasNormals, hasTangents, numCols, numTexs, numJoints));
}
private void resize(int amountVertices)
{
if (IsDisposed)
{
throw new ObjectDisposedException(ToString(), "Can not resize disposed vertex buffers.");
}
Array.Resize(ref Vertices, amountVertices);
if (GLWrapper.BindBuffer(BufferTarget.ArrayBuffer, vboId))
{
VertexUtils <T> .Bind();
}
GL.BufferData(BufferTarget.ArrayBuffer, (IntPtr)(Vertices.Length * STRIDE), IntPtr.Zero, usage);
}
public override void LoadData(Dictionary <string, string> data, bool fromSaveGame)
{
if (data.ContainsKey("rotateAround_speedRPM"))
{
this.speedRPM = float.Parse(data["rotateAround_speedRPM"]);
}
if (data.ContainsKey("rotateAround_reverseDirection"))
{
this.reverseDirection = bool.Parse(data["rotateAround_reverseDirection"]);
}
if (data.ContainsKey("rotateAround_center"))
{
this.center = VertexUtils.ParseVector3(data["rotateAround_center"]);
}
}
public static double Test5_CubeRotateTranslate_ScaleInhomogenous(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
myVerticesTarget = Vertices.CreateCube_Corners(50);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.TranslateVertices(myVerticesSource, 0, 0, 149);
VertexUtils.ScaleByVector(myVerticesSource, new Vertex(1, 2, 3));
Matrix3d R = new Matrix3d();
R = R.RotateSome();
VertexUtils.RotateVertices(myVerticesSource, R);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public override void OnOpen(List <ProceduralObject> selection)
{
confirmed = false;
this.selection = POGroup.AllObjectsInSelection(selection, logic.selectedGroup);
if (this.selection.Count < 2)
{
ExitAction();
return;
}
oldColors = new Dictionary <ProceduralObject, Color>();
foreach (var obj in this.selection)
{
oldColors.Add(obj, obj.m_color);
}
gradientTex = TextureUtils.PlainTexture(100, 22, Color.white);
maxObjects = VertexUtils.OutmostPoints(this.selection.ToArray());
gradient = new Gradient();
}
// move vertices
public void ApplyToNewPosition(Vector3 newHitPoint, ProceduralObject obj)
{
if (relativePositions == null)
{
return;
}
if (relativePositions.Count == 0)
{
return;
}
var referencial = VertexUtils.RotatePointAroundPivot(newHitPoint, originHitPoint, Quaternion.Inverse(obj.m_rotation));
foreach (KeyValuePair <Vertex, Vector3> kvp in relativePositions)
{
var newpos = kvp.Value + referencial;
kvp.Key.Position = new Vector3(newpos.x, kvp.Key.Position.y, newpos.z);
}
}
// rotate vertices
public void ApplyToNewPosition(float mousePosX)
{
float diff = originMousePosition.x - mousePosX;
Quaternion rot = Quaternion.identity;
if (diff > 0)
{
rot = Quaternion.Euler(0, (diff * 370f) / Screen.width, 0);
}
else
{
rot = Quaternion.Euler(0, -(((-diff) * 370f) / Screen.width), 0);
}
foreach (KeyValuePair <Vertex, Vertex> kvp in rotVertices)
{
kvp.Value.Position = VertexUtils.RotatePointAroundPivot(kvp.Key.Position, verticesBounds.center, rot);
}
}
public static double Test8_CubeOutliers_Rotate(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
//myVerticesTarget = Vertices.CreateCube_Corners(50);
Model3D myModel = Example3DModels.Cuboid("Cuboid", 20f, 40f, 100, new Vector3d(1, 1, 1), null);
myVerticesTarget = myModel.VertexList;
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
Matrix3d R = new Matrix3d();
R = R.Rotation30Degrees();
VertexUtils.RotateVertices(myVerticesSource, R);
VertexUtils.CreateOutliers(myVerticesSource, 5);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
public void TransformPointCloud_SaveObjFile()
{
//open a file
DepthMetaData DepthMetaData = new DepthMetaData();
byte[] colorInfo = null;
DepthMetaData.ReadDepthWithColor_OBJ(path, "KinectFace1.obj", ref DepthMetaData.FrameData, ref colorInfo);
List <Vector3d> myVectors = Vertices.ConvertToVector3DList_FromArray(DepthMetaData.FrameData, DepthMetaData.XResDefault, DepthMetaData.YResDefault);
List <float[]> myColorsFloats = PointCloudUtils.CreateColorInfo(colorInfo, DepthMetaData.FrameData, DepthMetaData.XResDefault, DepthMetaData.YResDefault);
List <Vertex> myVertexList = Model3D.CreateVertexList(myVectors, myColorsFloats);
VertexUtils.ScaleByFactor(myVertexList, 0.9);
VertexUtils.RotateVertices30Degrees(myVertexList);
VertexUtils.TranslateVertices(myVertexList, 10, 3, 5);
Model3D.Save_ListVertices_Obj(myVertexList, path, "transformed.obj");
}
public static double Test7_Face_KnownTransformation(ref List <Vertex> myVerticesTarget, ref List <Vertex> myVerticesSource, ref List <Vertex> myVerticesResult)
{
string path = AppDomain.CurrentDomain.BaseDirectory + "TestData";
Model3D model3DTarget = new Model3D(path + "\\KinectFace1.obj");
myVerticesTarget = model3DTarget.VertexList;
Vertices.GetVertexMax(myVerticesTarget);
myVerticesSource = VertexUtils.CloneListVertex(myVerticesTarget);
VertexUtils.ScaleByFactor(myVerticesSource, 0.9);
Matrix3d R = new Matrix3d();
R = R.Rotation60Degrees();
VertexUtils.RotateVertices(myVerticesSource, R);
VertexUtils.TranslateVertices(myVerticesSource, 0.3, 0.5, -0.4);
myVerticesResult = IterativeClosestPointTransform.Instance.PerformICP(myVerticesTarget, myVerticesSource);
return(IterativeClosestPointTransform.Instance.MeanDistance);
}
private void ApplyRotations()
{
foreach (var po in selection)
{
Quaternion appliedRot = Quaternion.Euler(RandomX ? randomizedRotations[po].x : 0f,
RandomY ? randomizedRotations[po].y : 0f,
RandomZ ? randomizedRotations[po].z : 0f);
if (po.isRootOfGroup && logic.selectedGroup == null)
{
foreach (var o in po.group.objects)
{
o.SetRotation(appliedRot * oldRotations[o]);
if (o != po)
{
o.SetPosition(VertexUtils.RotatePointAroundPivot(oldPositions[o], po.m_position, appliedRot));
}
}
}
else
{
po.SetRotation(appliedRot * oldRotations[po]);
}
}
}
private string _GetDebuggerDisplay() => VertexUtils._GetDebuggerDisplay(this);
