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#define GLM_ENABLE_EXPERIMENTAL
#include "CgSceneControl.h"
#include "CgBase/CgEnums.h"
#include "CgEvents/CgMouseEvent.h"
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#include "CgEvents/CgKeyEvent.h"
#include "CgEvents/CgWindowResizeEvent.h"
#include "CgEvents/CgLoadMeshEvent.h"
#include "CgEvents/CgLoadPointCloudEvent.h"
#include "CgEvents/CgTrackballEvent.h"
#include "CgEvents/CgSplatEvent.h"
#include "CgEvents/CgPickRayEvent.h"
#include "CgBase/CgBaseRenderer.h"
#include "CgPointCloud.h"
#include "CgPolyLine.h"
#include "CgTriangleMesh.h"
#include <iostream>
#include <glm/gtc/matrix_transform.hpp>
#include <glm/ext.hpp>
#include "CgUtils/ObjLoader.h"
#include "CgMath/CgEigenDecomposition3x3.h"
#include <string>
#include <CgMath/Eigen/SVD>
#include <CgMath/Eigen/Core>
using namespace Eigen;
CgSceneControl::CgSceneControl()
{
m_pointcloud=nullptr;
m_current_transformation=glm::mat4(1.);
m_lookAt_matrix= glm::lookAt(glm::vec3(0.0,0.0,1.0),glm::vec3(0.0,0.0,0.0),glm::vec3(0.0,1.0,0.0));
m_proj_matrix= glm::mat4x4(glm::vec4(1.792591, 0.0, 0.0, 0.0), glm::vec4(0.0, 1.792591, 0.0, 0.0), glm::vec4(0.0, 0.0, -1.0002, -1.0), glm::vec4(0.0, 0.0, -0.020002, 0.0));
m_trackball_rotation=glm::mat4(1.);
m_select_ray=NULL;
m_disc = new CgTriangleMesh(78);
m_pointcloud = NULL;
m_center=glm::vec3(0.);
m_triangle_mesh= NULL;
m_show_splats=false;
m_show_pickray=false;
}
CgSceneControl::~CgSceneControl()
{
if(m_pointcloud!=NULL)
delete m_pointcloud;
if(m_triangle_mesh!=NULL)
delete m_triangle_mesh;
if(m_disc!=NULL)
delete m_disc;
if(m_select_ray!=NULL)
delete m_select_ray;
}
void CgSceneControl::calculatePickRay(double x, double y)
{
double w = (double) m_renderer->getViewportWidth();
double h = (double) m_renderer->getViewportHeight();
// normalize into [-1;1]
x=2.0*x / w -1.0;
if (x<-1.0) x=-1.0;
if (x>1.0) x=1.0;
y=2.0*y / h -1.0;
if (y<-1.0) y=-1.0;
if (y>1.0) y=1.0;
// change to right handed coordinate system
y=-y;
glm::mat4 inverse_proj=glm::inverse(m_proj_matrix);
//unproject point on front clipping plane
glm::vec4 p(x,y,-0.01,1);
glm::vec4 q= inverse_proj*p;
q/= q.w;
//unproject point on back clipping plane
glm::vec4 r(x,y,1.0,1);
glm::vec4 s= inverse_proj*r;
s/= s.w;
//construct current modelview matrix by hand, since there is no scenegraph
m_current_transformation = glm::translate(m_current_transformation,-m_center);
glm::mat4 mv_matrix = m_lookAt_matrix * m_trackball_rotation* m_current_transformation ;
m_current_transformation = glm::translate(m_current_transformation,m_center);
// convert pick ray into local "bunny coordinates"
glm::mat4 mv_matrix_inv = glm::inverse(mv_matrix);
glm::vec4 raystart=mv_matrix_inv*q;
glm::vec4 rayend=mv_matrix_inv*s;
// init new CgPolyline to draw the pick ray
if(m_select_ray!=NULL)
delete m_select_ray;
std::vector<glm::vec3> pointlist;
pointlist.push_back(raystart);
pointlist.push_back(rayend);
m_select_ray = new CgPolyLine(33,pointlist);
m_renderer->init(m_select_ray);
m_renderer->redraw();
}
void CgSceneControl::calculateEigenDecomposition3x3()
{
glm::mat3 testmat = glm::mat3(3.,2.,4.,2.,0.,2.,4.,2.,3.);
std::cout << glm::to_string(testmat) << std::endl;
CgEigenDecomposition3x3 eigen(testmat);
glm::mat3 eigenvectors= eigen.getEigenvectors();
glm::vec3 eigenvalues = eigen.getEigenvalues();
std::cout << glm::to_string(eigenvalues) << std::endl;
std::cout << glm::to_string(eigenvectors) << std::endl;
}
void CgSceneControl::calculateSingularValueDecomposition()
{
//init some arbitrary test matrix
MatrixXd C(2,3);
C(0,0)=3.0;C(0,1)=2.0;C(0,2)=2.0;
C(1,0)=2.0;C(1,1)=3.0;C(1,2)=-2.0;
std::cout << C << std::endl;
//compute decomposition
JacobiSVD<Eigen::MatrixXd> svd(C,ComputeThinU|ComputeThinV);
Eigen::MatrixXd U=svd.matrixU();
Eigen::MatrixXd V=svd.matrixV();
Eigen::VectorXd SV=svd.singularValues();
//build a diagonal matrix out of the singular values
Eigen::MatrixXd S(2,2);
S.setZero();
S(0,0)=SV(0);S(1,1)=SV(1);
std::cout << U << std::endl;
std::cout << S << std::endl;
std::cout << V.transpose() << std::endl;
// compute Moore-Penrose inverse now
S(0,0)=1.0/S(0,0);S(1,1)=1.0/S(1,1);
Eigen::MatrixXd C_plus = V*S*U.transpose();
std::cout << std::endl;
std::cout << C_plus << std::endl;
}
void CgSceneControl::handleEvent(CgBaseEvent* e)
{
// any kind of MouseEvents can be checked via CgEvent::CgMouseEvent a
// see CgEvent enums in CgEnums.h
if(e->getType() & Cg::CgMouseEvent)
{
CgMouseEvent* ev = (CgMouseEvent*)e;
if(ev->button()==Cg::RightButton)
calculatePickRay((double)ev->x(),(double)ev->y());
}
if(e->getType() & Cg::CgMouseWheel)
{
CgWheelEvent* ev = (CgWheelEvent*)e;
//scaling of scene, i.e. of the one single object
float scaleFactor = 1.0f + 0.01f * ev->numDegrees();
glm::mat4 scalemat = glm::mat4(1.);
scalemat = glm::scale(scalemat, glm::vec3(scaleFactor,scaleFactor,scaleFactor));
m_current_transformation = m_current_transformation * scalemat;
m_renderer->redraw();
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}
if(e->getType() & Cg::CgTrackballEvent)
{
CgTrackballEvent* ev = (CgTrackballEvent*)e;
m_trackball_rotation=ev->getRotationMatrix();
m_renderer->redraw();
}
// any kind of KeyEvents can be checked via CgEvent::CgKeyEvent
// see CgEvent enums in CgEnums.h
if(e->getType() & Cg::CgKeyEvent)
{
CgKeyEvent* ev = (CgKeyEvent*)e;
if(ev->text()=="e")
{
// example usage of eigen library to compute the eigen-decomposition of a matrix
calculateEigenDecomposition3x3();
}
if(ev->text()=="s")
{
// example usage of eigen library to compute the eigen-decomposition of a matrix
calculateSingularValueDecomposition();
}
if(ev->text()=="+")
{
//scaling of scene, i.e. of the one single object
glm::mat4 scalemat = glm::mat4(1.);
scalemat = glm::scale(scalemat,glm::vec3(1.1,1.1,1.1));
m_current_transformation=m_current_transformation*scalemat;
m_renderer->redraw();
}
if(ev->text()=="-")
{
//scaling of scene, i.e. of the one single object
glm::mat4 scalemat = glm::mat4(1.);
scalemat = glm::scale(scalemat,glm::vec3(0.9,0.9,0.9));
m_current_transformation=m_current_transformation*scalemat;
m_renderer->redraw();
}
}
if(e->getType() & Cg::CgSplatEvent)
{
// checkbox in GUI changed for showing/hiding splats
CgSplatEvent* ev = (CgSplatEvent*)e;
m_show_splats=ev->useSplatting();
m_renderer->redraw();
}
if(e->getType() & Cg::CgPickRayEvent)
{
// checkbox in GUI changed for showing/hiding pick ray
CgPickRayEvent* ev = (CgPickRayEvent*)e;
m_show_pickray=ev->showPickRay();
renderObjects();
m_renderer->redraw();
}
if(e->getType() & Cg::WindowResizeEvent)
{
CgWindowResizeEvent* ev = (CgWindowResizeEvent*)e;
std::cout << *ev <<std::endl;
m_proj_matrix=glm::perspective(45.0f, (float)(ev->w()) / ev->h(), 0.01f, 100.0f);
}
if(e->getType() & Cg::CgLoadPointCloudEvent)
{
CgLoadPointCloudEvent* ev = (CgLoadPointCloudEvent*)e;
ObjLoader* loader= new ObjLoader();
std::string filename =ev->FileName();
if(filename !="")
{
loader->load(filename);
if(m_triangle_mesh!=NULL)
{
delete m_triangle_mesh;
m_triangle_mesh=NULL;
}
if(m_pointcloud!=NULL)
{
delete m_pointcloud;
m_pointcloud=NULL;
}
m_pointcloud= new CgPointCloud();
m_pointcloud->init(ev->FileName(),true);
m_center=m_pointcloud->getCenter();
m_renderer->init(m_pointcloud);
m_renderer->redraw();
}
}
if(e->getType() & Cg::CgLoadMeshEvent)
{
CgLoadMeshEvent* ev = (CgLoadMeshEvent*)e;
ObjLoader* loader= new ObjLoader();
std::string filename =ev->FileName();
if(filename !="")
{
loader->load(filename);
if(m_triangle_mesh!=NULL)
{
delete m_triangle_mesh;
m_triangle_mesh=NULL;
}
if(m_pointcloud!=NULL)
{
delete m_pointcloud;
m_pointcloud=NULL;
}
m_triangle_mesh= new CgTriangleMesh();
m_triangle_mesh->init(ev->FileName());
m_center=m_triangle_mesh->getCenter();
m_renderer->init(m_triangle_mesh);
m_renderer->redraw();
}
}
// delete event
delete e;
}
// rendering stuff
/*******************************************************************************************************/
void CgSceneControl::setRenderer(CgBaseRenderer* r)
{
m_renderer=r;
m_renderer->setSceneControl(this);
if(m_pointcloud!=NULL)
m_renderer->init(m_pointcloud);
if(m_disc!=NULL)
m_renderer->init(m_disc);
if(m_select_ray!=NULL)
m_renderer->init(m_select_ray);
if(m_triangle_mesh!=NULL)
m_renderer->init(m_triangle_mesh);
}
void CgSceneControl::renderObjects()
{
// Materialeigenschaften setzen
m_renderer->setUniformValue("mycolor",glm::vec4(0.0,1.0,0.0,1.0));
m_renderer->setUniformValue("matDiffuseColor",glm::vec4(0.780392f, 0.568627f, 0.113725f, 1.0f ));
m_renderer->setUniformValue("lightDiffuseColor",glm::vec4(1.0,1.0,1.0,1.0));
m_renderer->setUniformValue("matAmbientColor",glm::vec4(0.329412f, 0.223529f, 0.027451f,1.0f ));
m_renderer->setUniformValue("lightAmbientColor",glm::vec4(1.0,1.0,1.0,1.0));
m_renderer->setUniformValue("matSpecularColor",glm::vec4(0.992157f, 0.941176f, 0.807843f, 1.0f));
m_renderer->setUniformValue("lightSpecularColor",glm::vec4(1.0,1.0,1.0,1.0));
m_renderer->setUniformValue("shininess",27.8974f);
if(m_triangle_mesh!=NULL)
{
m_current_transformation = glm::translate(m_current_transformation,-m_center);
glm::mat4 mv_matrix = m_lookAt_matrix * m_trackball_rotation* m_current_transformation ;
m_renderer->render(m_triangle_mesh,mv_matrix,m_proj_matrix);
m_current_transformation = glm::translate(m_current_transformation,m_center);
}
if((m_pointcloud!=NULL)&&(!m_show_splats))
{
m_current_transformation = glm::translate(m_current_transformation,-m_center);
glm::mat4 mv_matrix = m_lookAt_matrix * m_trackball_rotation* m_current_transformation ;
m_renderer->render(m_pointcloud,mv_matrix,m_proj_matrix);
m_current_transformation = glm::translate(m_current_transformation,m_center);
}
if((m_select_ray!=NULL)&&(m_show_pickray))
{
m_current_transformation = glm::translate(m_current_transformation,-m_center);
glm::mat4 mv_matrix = m_lookAt_matrix * m_trackball_rotation* m_current_transformation ;
m_renderer->render(m_select_ray,mv_matrix,m_proj_matrix);
m_current_transformation = glm::translate(m_current_transformation,m_center);
}
// you would never ever render splats like this, a splat is never a scenegraph object
// just to have not much effort to show the shape, inefficient rendering!
if((m_pointcloud!=NULL)&&(m_show_splats))
{
m_renderer->setUniformValue("rendersplats",1);
const std::vector<glm::vec3>& vertex_colors = m_pointcloud->getVertexColors();
const std::vector<glm::vec3>& vertices = m_pointcloud->getVertices();
const std::vector<unsigned int>& splat_indices= m_pointcloud->getSplatIndices();
const std::vector<glm::mat4>& orientations = m_pointcloud->getSplatOrientations();
const std::vector<glm::vec2>& scalings = m_pointcloud->getSplatScalings();
glm::mat4 mv_matrix;
for(unsigned int i=0;i<splat_indices.size();i++)
{
//m_renderer->setUniformValue("mycolor",glm::vec4(vertex_colors[splat_indices[i]],1.0));
m_current_transformation = glm::translate(m_current_transformation,-m_center);
m_current_transformation = m_current_transformation * glm::inverse(orientations[splat_indices[i]]);
m_current_transformation=glm::scale(m_current_transformation,glm::vec3(scalings[splat_indices[i]][0],scalings[splat_indices[i]][1],1.0));
mv_matrix = m_lookAt_matrix * m_trackball_rotation* m_current_transformation ;
if(m_disc!=NULL)
m_renderer->render(m_disc,mv_matrix,m_proj_matrix);
m_current_transformation=glm::scale(m_current_transformation,glm::vec3(1.0/scalings[splat_indices[i]][0],1.0/scalings[splat_indices[i]][1],1.0));
m_current_transformation = m_current_transformation * orientations[splat_indices[i]];
m_current_transformation = glm::translate(m_current_transformation,m_center);
}
}
}