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Frame.cpp 11.68 KiB
/**
* @file Frame.cpp
* @author Ulrich Kemloh <kemlohulrich@gmail.com>
* @version 0.1
* Copyright (C) <2009-2010>
*
* @section LICENSE
* This file is part of OpenPedSim.
*
* OpenPedSim is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* any later version.
*
* OpenPedSim is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with OpenPedSim. If not, see <http://www.gnu.org/licenses/>.
*
* @section DESCRIPTION
* this class contains the collection of all
* pedestrians coordinates (trajectoryPoint) belonging to the same frame(i.e at the same time)
*
* @brief Hold all information that will be displayed on the screen (one frame)
*
* Created on: 10.07.2009
*
*/
#include <vector>
#include <iostream>
#include "general/Macros.h"
#include "FrameElement.h"
#include "Frame.h"
#include <vtkPolyData.h>
#include <vtkSmartPointer.h>
#include <vtkFloatArray.h>
#include <vtkPointData.h>
#include <vtkMath.h>
#include <vtkMatrix3x3.h>
#define VTK_CREATE(type, name) \
vtkSmartPointer<type> name = vtkSmartPointer<type>::New()
Frame::Frame(int id)
{
_elementCursor=0;
_id=id;
_polydata2D = vtkPolyData::New();
_polydata3D = vtkPolyData::New();
_framePoints.reserve(1500);
}
Frame::~Frame()
{
while (!_framePoints.empty()) {
delete _framePoints.back();
_framePoints.pop_back();
}
_framePoints.clear();
_polydata2D->Delete();
_polydata3D->Delete();
}
int Frame::getSize(){
return _framePoints.size();
}
void Frame::addElement(FrameElement* point)
{
_framePoints.push_back(point);
}
//void Frame::clear()
//{
// while (!_framePoints.empty()) {
// delete _framePoints.back();
// _framePoints.pop_back();
// }
// _framePoints.clear();
// _elementCursor=0;
//}
FrameElement* Frame::getNextElement()
{
if(_elementCursor>=_framePoints.size()) {
return NULL;
} else {
//return _framePoints.at(_elementCursor++);
return _framePoints[_elementCursor++];
}
//next test
}
/*
vtkPolyData* Frame::GetPolyData(bool is_ellipse)
{
VTK_CREATE (vtkPoints, points);
VTK_CREATE (vtkFloatArray, colors);
VTK_CREATE (vtkFloatArray, tensors);
colors->SetName("color");
colors->SetNumberOfComponents(1);
tensors->SetName("tensors");
tensors->SetNumberOfComponents(9);
for (unsigned int i=0;i<_framePoints.size();i++)
{
double pos[3]={0,0,0};
double rad[3]={1.0,1.0,1.0};
double rot[3];
double color;
_framePoints[i]->GetPos(pos); //pos[2]=90;
_framePoints[i]->GetOrientation(rot);
_framePoints[i]->GetColor(&color);
_framePoints[i]->GetRadius(rad);
//only scale the ellipse 2D
if(is_ellipse)
{
rad[0]/=30;rad[1]/=30;rad[2]/=120;
}
else
{
double height_i=170;
rot[0]=vtkMath::RadiansFromDegrees(90.0);
rot[1]=vtkMath::RadiansFromDegrees(00.0);
pos[2]=height_i/2.0; // slightly above ground
rad[0]/=30; rad[2]/=30;
//?height default to 30 in SaxParser and 160 in Renderingengine
rad[1]=height_i/160.0;
}
points->InsertNextPoint(pos);
rot[2]=vtkMath::RadiansFromDegrees(rot[2]);
//scaling matrix
double sc[3][3] = {{rad[0],0,0},
{0,rad[1],0},
{0,0,rad[2]}};
//rotation matrix around x-axis
double roX[3][3] = {{1, 0, 0},
{0, cos(rot[0]),-sin(rot[0])},
{0, sin(rot[0]), cos(rot[0])}};
//rotation matrix around y-axis
double roY[3][3] = {{cos(rot[1]), 0,sin(rot[1])},
{0, 1, 0},
{-sin(rot[1]),0,cos(rot[1])}};
//rotation matrix around z-axis
double roZ[3][3] = {{cos(rot[2]),sin(rot[2]),0.0},
{-sin(rot[2]),cos(rot[2]),0.0},
{0.0,0.0,1.0}};
//final rotation matrix
double ro[3][3];
vtkMath::Multiply3x3(roX,roY,ro);
vtkMath::Multiply3x3(ro,roZ,ro);
//final transformation matrix
double rs[3][3];
vtkMath::Multiply3x3(sc,ro,rs);
tensors->InsertNextTuple9(rs[0][0],rs[0][1],rs[0][2],
rs[1][0],rs[1][1],rs[1][2],
rs[2][0],rs[2][1],rs[2][2]);
if(color==-1){
colors->InsertNextValue(NAN);
}
else{
colors->InsertNextValue(color/255.0);
}
}
// setting the colors
_polydata->SetPoints(points);
_polydata->GetPointData()->AddArray(colors);
_polydata->GetPointData()->SetActiveScalars("color");
// setting the scaling and rotation
_polydata->GetPointData()->SetTensors(tensors);
_polydata->GetPointData()->SetActiveTensors("tensors");
return _polydata;
}
*/
void Frame::ComputePolyData()
{ ComputePolyData2D();
ComputePolyData3D();
}
void Frame::ComputePolyData2D()
{
VTK_CREATE (vtkPoints, points);
VTK_CREATE (vtkFloatArray, colors);
VTK_CREATE (vtkFloatArray, tensors);
VTK_CREATE (vtkIntArray, labels);
colors->SetName("color");
colors->SetNumberOfComponents(1);
tensors->SetName("tensors");
tensors->SetNumberOfComponents(9);
labels->SetName("labels");
labels->SetNumberOfComponents(1);
for (unsigned int i=0; i<_framePoints.size(); i++) {
double pos[3]= {0,0,0};
double rad[3]= {1.0,1.0,1.0};
double rot[3];
double color;
_framePoints[i]->GetPos(pos); //pos[2]=90;
_framePoints[i]->GetOrientation(rot);
_framePoints[i]->GetColor(&color);
_framePoints[i]->GetRadius(rad);
labels->InsertNextValue(_framePoints[i]->GetId()+1);
rad[0]/=30;
rad[1]/=30;
rad[2]/=120;
points->InsertNextPoint(pos);
rot[2]=vtkMath::RadiansFromDegrees(rot[2]);
//scaling matrix
double sc[3][3] = {{rad[0],0,0},
{0,rad[1],0},
{0,0,rad[2]}
};
//rotation matrix around x-axis
double roX[3][3] = {{1, 0, 0},
{0, cos(rot[0]),-sin(rot[0])},
{0, sin(rot[0]), cos(rot[0])}
};
//rotation matrix around y-axis
double roY[3][3] = {{cos(rot[1]), 0,sin(rot[1])},
{0, 1, 0},
{-sin(rot[1]),0,cos(rot[1])}
};
//rotation matrix around z-axis
double roZ[3][3] = {{cos(rot[2]),sin(rot[2]),0.0},
{-sin(rot[2]),cos(rot[2]),0.0},
{0.0,0.0,1.0}
};
//final rotation matrix
double ro[3][3];
vtkMath::Multiply3x3(roX,roY,ro);
vtkMath::Multiply3x3(ro,roZ,ro);
//final transformation matrix
double rs[3][3]; vtkMath::Multiply3x3(sc,ro,rs);
tensors->InsertNextTuple9(rs[0][0],rs[0][1],rs[0][2],
rs[1][0],rs[1][1],rs[1][2],
rs[2][0],rs[2][1],rs[2][2]);
if(color==-1) {
colors->InsertNextValue(NAN);
} else {
colors->InsertNextValue(color/255.0);
}
}
// setting the colors
_polydata2D->SetPoints(points);
_polydata2D->GetPointData()->AddArray(colors);
_polydata2D->GetPointData()->SetActiveScalars("color");
// setting the scaling and rotation
_polydata2D->GetPointData()->SetTensors(tensors);
_polydata2D->GetPointData()->SetActiveTensors("tensors");
//setting the labels
_polydata2D->GetPointData()->AddArray(labels);
}
void Frame::ComputePolyData3D()
{
VTK_CREATE (vtkPoints, points);
VTK_CREATE (vtkFloatArray, colors);
VTK_CREATE (vtkFloatArray, tensors);
colors->SetName("color");
colors->SetNumberOfComponents(1);
tensors->SetName("tensors");
tensors->SetNumberOfComponents(9);
for (unsigned int i=0; i<_framePoints.size(); i++) {
double pos[3]= {0,0,0};
double rad[3]= {1.0,1.0,1.0};
double rot[3];
double color;
_framePoints[i]->GetPos(pos); //pos[2]=90;
_framePoints[i]->GetOrientation(rot);
_framePoints[i]->GetColor(&color);
_framePoints[i]->GetRadius(rad);
//values for cylindar
double height_i=170;
double max_height=160;
rot[0]=vtkMath::RadiansFromDegrees(90.0);
rot[1]=vtkMath::RadiansFromDegrees(00.0);
int angle_offset=0;
//values for charlie
//rot[0]=vtkMath::RadiansFromDegrees(00.0);
//rot[1]=vtkMath::RadiansFromDegrees(00.0);
//int angle_offset=90;
//double max_height=350;
pos[2]+=height_i/2.0 - 30; // slightly above ground
rad[0]/=20;
rad[0]=1;
rad[2]/=20;
rad[2]=1;
//?height default to 30 in SaxParser and 160 in Renderingengine //rad[1]=height_i/160.0;
rad[1]=height_i/max_height;
points->InsertNextPoint(pos);
rot[2]=vtkMath::RadiansFromDegrees(rot[2] + angle_offset);
//scaling matrix
double sc[3][3] = {{rad[0],0,0},
{0,rad[1],0},
{0,0,rad[2]}
};
//rotation matrix around x-axis
double roX[3][3] = {{1, 0, 0},
{0, cos(rot[0]),-sin(rot[0])},
{0, sin(rot[0]), cos(rot[0])}
};
//rotation matrix around y-axis
double roY[3][3] = {{cos(rot[1]), 0,sin(rot[1])},
{0, 1, 0},
{-sin(rot[1]),0,cos(rot[1])}
};
//rotation matrix around z-axis
double roZ[3][3] = {{cos(rot[2]),sin(rot[2]),0.0},
{-sin(rot[2]),cos(rot[2]),0.0},
{0.0,0.0,1.0}
};
//final rotation matrix
double ro[3][3];
vtkMath::Multiply3x3(roX,roY,ro);
vtkMath::Multiply3x3(ro,roZ,ro);
//final transformation matrix
double rs[3][3];
vtkMath::Multiply3x3(sc,ro,rs);
tensors->InsertNextTuple9(rs[0][0],rs[0][1],rs[0][2],
rs[1][0],rs[1][1],rs[1][2],
rs[2][0],rs[2][1],rs[2][2]);
if(color==-1) {
colors->InsertNextValue(NAN);
} else {
colors->InsertNextValue(color/255.0);
}
}
// setting the colors
_polydata3D->SetPoints(points);
_polydata3D->GetPointData()->AddArray(colors);
_polydata3D->GetPointData()->SetActiveScalars("color");
// setting the scaling and rotation
_polydata3D->GetPointData()->SetTensors(tensors);
_polydata3D->GetPointData()->SetActiveTensors("tensors");
}
vtkPolyData* Frame::GetPolyData2D()
{
return _polydata2D;
}
vtkPolyData* Frame::GetPolyData3D()
{
return _polydata3D;
}
const std::vector<FrameElement *> &Frame::GetFrameElements() const
{
return _framePoints;
}
unsigned int Frame::getElementCursor()
{
return _elementCursor;
}
void Frame::resetCursor()
{
_elementCursor=0;
}