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/* +------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| https://www.mrpt.org/ |
| |
| Copyright (c) 2005-2023, Individual contributors, see AUTHORS file |
| See: https://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See: https://www.mrpt.org/License |
+------------------------------------------------------------------------+ */
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/math/TObject3D.h>
#include <mrpt/opengl/CAngularObservationMesh.h>
#include <mrpt/opengl/CAxis.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CPolyhedron.h>
#include <iostream>
using namespace std;
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::opengl;
using namespace mrpt::poses;
using namespace mrpt::math;
using mrpt::opengl::CAngularObservationMesh;
using namespace mrpt::system;
const double GRID_R = 1.0;
const double GRID_G = 1.0;
const double GRID_B = 1.0;
// Comment to increase randomness of poses
#define PAIRED_RANDOM_POSES
#define USE_THREADS
inline double MYRAND1(size_t prec = 64)
{
return static_cast<double>(rand() % prec) / static_cast<double>(prec - 1);
}
void randomColor(const CRenderizable::Ptr& obj, double alpha)
{
obj->setColor(MYRAND1(), MYRAND1(), MYRAND1(), alpha);
}
#ifdef USE_THREADS
class PIThreadParam
{
public:
const pair<CPolyhedron::Ptr, CPolyhedron::Ptr>* polys{nullptr};
vector<TSegment3D> intersection;
PIThreadParam(const pair<CPolyhedron::Ptr, CPolyhedron::Ptr>& p)
: polys(&p), intersection()
{
}
PIThreadParam() : intersection() {}
inline static PIThreadParam createObject(
const pair<CPolyhedron::Ptr, CPolyhedron::Ptr>& p)
{
return PIThreadParam(p);
}
};
void piThreadFunction(PIThreadParam& p)
{
vector<TObject3D> ints;
CPolyhedron::getIntersection(p.polys->first, p.polys->second, ints);
for (const auto& o : ints)
if (o.isSegment()) p.intersection.emplace_back(o.getAs<TSegment3D>());
}
inline std::thread piCreateThread(PIThreadParam& p)
{
return std::thread(&piThreadFunction, std::ref(p));
}
class AggregatorFunctor
{
public:
vector<TSegment3D>& sgms;
AggregatorFunctor(vector<TSegment3D>& s) : sgms(s) {}
inline void operator()(const PIThreadParam& p)
{
sgms.insert(sgms.end(), p.intersection.begin(), p.intersection.end());
}
};
#endif
CSetOfLines::Ptr getIntersections(
const vector<pair<CPolyhedron::Ptr, CPolyhedron::Ptr>>& v)
{
vector<TSegment3D> sgms;
#ifdef USE_THREADS
vector<PIThreadParam> pars(v.size());
vector<std::thread> threads(v.size());
transform(v.begin(), v.end(), pars.begin(), &PIThreadParam::createObject);
transform(pars.begin(), pars.end(), threads.begin(), &piCreateThread);
for_each(threads.begin(), threads.end(), [](std::thread& t) { t.join(); });
for_each(pars.begin(), pars.end(), AggregatorFunctor(sgms));
#else
vector<TObject3D> ints, TMP;
for (vector<pair<CPolyhedron::Ptr, CPolyhedron::Ptr>>::const_iterator it =
v.begin();
it != v.end(); ++it)
{
CPolyhedron::getIntersection(it->first, it->second, TMP);
ints.insert(ints.end(), TMP.begin(), TMP.end());
}
TObject3D::getSegments(ints, sgms);
#endif
CSetOfLines::Ptr lns = CSetOfLines::Create(sgms);
lns->setLineWidth(9);
randomColor(lns, 1.0);
return lns;
}
inline double randomAngle(size_t prec = 64) { return MYRAND1(prec) * M_PI; }
inline double randomZ(double space = 25, size_t prec = 64)
{
return space * (MYRAND1(prec) - 0.5);
}
pair<CPolyhedron::Ptr, CPolyhedron::Ptr> addPairOfPolys(
CPolyhedron::Ptr p1, CPolyhedron::Ptr p2, CSetOfObjects::Ptr& objs,
double x, double y)
{
p1->makeConvexPolygons();
p2->makeConvexPolygons();
#ifdef PAIRED_RANDOM_POSES
CPose3D pose =
CPose3D(x, y, randomZ(), randomAngle(), randomAngle(), randomAngle());
p1->setPose(pose);
p2->setPose(pose);
#else
CPose3D pose1 =
CPose3D(x, y, randomZ(), randomAngle(), randomAngle(), randomAngle());
CPose3D pose2 =
CPose3D(x, y, randomZ(), randomAngle(), randomAngle(), randomAngle());
p1->setPose(pose1);
p2->setPose(pose2);
#endif
randomColor(p1, 0.5);
randomColor(p2, 0.5);
objs->insert(p1);
objs->insert(p2);
return make_pair(p1, p2);
}
void display()
{
CDisplayWindow3D window("Polyhedra Intersection demo", 640, 480);
window.resize(640, 480);
COpenGLScene::Ptr scene1 = COpenGLScene::Create();
opengl::CGridPlaneXY::Ptr plane1 =
CGridPlaneXY::Create(-25, 25, -25, 25, 0, 1);
plane1->setColor(GRID_R, GRID_G, GRID_B);
scene1->insert(plane1);
scene1->insert(CAxis::Create(-5, -5, -5, 5, 5, 5, 2.5, 3, true));
CSetOfObjects::Ptr objs = CSetOfObjects::Create();
vector<pair<CPolyhedron::Ptr, CPolyhedron::Ptr>> polys;
polys.reserve(16);
// Addition of polyhedra. Add more polyhedra at wish, but try to avoid
// intersections with other pairs, for better visualization.
polys.push_back(addPairOfPolys(
CPolyhedron::CreateHexahedron(10), CPolyhedron::CreateOctahedron(10),
objs, -12.5, -12.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateIcosahedron(10), CPolyhedron::CreateDodecahedron(10),
objs, -12.5, 12.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateRhombicuboctahedron(10),
CPolyhedron::CreateCuboctahedron(10), objs, 12.5, 12.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateArchimedeanRegularAntiprism(4, 9),
CPolyhedron::CreateRegularDoublePyramid(9, 10, 15, 6), objs, 12.5,
-12.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateCuboctahedron(10),
CPolyhedron::CreateRhombicDodecahedron(10), objs, -37.5, -37.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateRhombicuboctahedron(10),
CPolyhedron::CreateDeltoidalIcositetrahedron(10), objs, -37.5, -12.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateIcosidodecahedron(10),
CPolyhedron::CreateRhombicTriacontahedron(10), objs, -37.5, 12.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateRhombicosidodecahedron(10),
CPolyhedron::CreateDeltoidalHexecontahedron(10), objs, -37.5, 37.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateTruncatedTetrahedron(10),
CPolyhedron::CreateTriakisTetrahedron(10), objs, -12.5, -37.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateTruncatedHexahedron(10),
CPolyhedron::CreateTriakisOctahedron(10), objs, -12.5, 37.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateTruncatedOctahedron(10),
CPolyhedron::CreateTetrakisHexahedron(10), objs, 12.5, -37.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateTruncatedDodecahedron(10),
CPolyhedron::CreateTriakisIcosahedron(10), objs, 12.5, 37.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateTruncatedIcosahedron(10),
CPolyhedron::CreatePentakisDodecahedron(10), objs, 37.5, -37.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateRandomPolyhedron(10),
CPolyhedron::CreateRandomPolyhedron(10), objs, 37.5, -12.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateDodecahedron(10),
CPolyhedron::CreateDeltoidalHexecontahedron(10), objs, 37.5, 12.5));
polys.push_back(addPairOfPolys(
CPolyhedron::CreateTriakisIcosahedron(10),
CPolyhedron::CreatePentakisDodecahedron(10), objs, 37.5, 37.5));
objs << getIntersections(polys);
scene1->insert(objs);
window.get3DSceneAndLock() = scene1;
window.unlockAccess3DScene();
window.setCameraElevationDeg(25.0f);
window.forceRepaint();
window.waitForKey();
}
int main()
{
srand((unsigned int)mrpt::system::extractDayTimeFromTimestamp(
mrpt::system::now()));
try
{
display();
return 0;
}
catch (exception& e)
{
cout << "Error: " << e.what() << '.' << endl;
return -1;
}
catch (...)
{
cout << "Unknown Error.\n";
return -1;
}
}
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