157 lines
4.6 KiB
C++
157 lines
4.6 KiB
C++
#ifndef FLOORPLANMESH_H
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#define FLOORPLANMESH_H
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#include "Obstacle3.h"
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namespace Ray3D {
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/**
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* meshed version of the floorplan
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*/
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struct FloorplanMesh {
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std::vector<Obstacle3D> elements;
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/** DEBUG: convert to .obj file code for exporting */
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std::string toOBJ() {
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int nVerts = 1;
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int nObjs = 0;
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std::string res;
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// write each obstacle
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for (const Obstacle3D& o : elements) {
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// write the vertices
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for (const Triangle3& t : o.triangles) {
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res += "v " + std::to_string(t.p1.x) + " " + std::to_string(t.p1.y) + " " + std::to_string(t.p1.z) + "\n";
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res += "v " + std::to_string(t.p2.x) + " " + std::to_string(t.p2.y) + " " + std::to_string(t.p2.z) + "\n";
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res += "v " + std::to_string(t.p3.x) + " " + std::to_string(t.p3.y) + " " + std::to_string(t.p3.z) + "\n";
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}
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// create a new group
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res += "g elem_" + std::to_string(++nObjs) + "\n";
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// write the group's faces
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for (size_t i = 0; i < o.triangles.size(); ++i) {
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res += "f " + std::to_string(nVerts+0) + " " + std::to_string(nVerts+1) + " " + std::to_string(nVerts+2) + "\n";
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nVerts += 3;
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}
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}
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// done
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return res;
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}
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/** convert to .ply file format */
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std::string toPLY() const {
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std::stringstream res;
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res << "ply\n";
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res << "format ascii 1.0\n";
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int faces = 0;
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int vertices = 0;
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for (const Obstacle3D& obs : elements) {
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vertices += obs.triangles.size() * 3;
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faces += obs.triangles.size();
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}
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// material
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std::vector<Material> mats = {
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Material(0,128,0,255), // ground outdoor
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Material(64,64,64,255), // ground outdoor
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Material(255,96,96,255), // stair
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Material(128,128,128,255), // concrete
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Material(64,128,255,64), // glass
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Material(200,200,200,255), // default
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};
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res << "element material " << mats.size() << "\n";
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res << "property uchar red\n";
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res << "property uchar green\n";
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res << "property uchar blue\n";
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res << "property uchar alpha\n";
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res << "element vertex " << vertices << "\n";
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res << "property float x\n";
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res << "property float y\n";
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res << "property float z\n";
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res << "property float nx\n";
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res << "property float ny\n";
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res << "property float nz\n";
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res << "property int material_index\n";
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res << "property uchar red\n";
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res << "property uchar green\n";
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res << "property uchar blue\n";
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res << "property uchar alpha\n";
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res << "element face " << faces << "\n";
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res << "property list uchar int vertex_indices\n";
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res << "end_header\n";
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for (const Material& mat : mats) {
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res << mat.r << " " << mat.g << " " << mat.b << " " << mat.a << "\n";
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}
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for (const Obstacle3D& obs : elements) {
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const int matIdx = getMaterial(obs);
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const Material& mat = mats[matIdx];
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for (const Triangle3& tria : obs.triangles) {
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const Point3 n = cross(tria.p2-tria.p1, tria.p3-tria.p1).normalized();
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res << tria.p1.x << " " << tria.p1.y << " " << tria.p1.z << " " << n.x << " " << n.y << " " << n.z << " " << matIdx << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a << "\n";
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res << tria.p2.x << " " << tria.p2.y << " " << tria.p2.z << " " << n.x << " " << n.y << " " << n.z << " " << matIdx << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a <<"\n";
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res << tria.p3.x << " " << tria.p3.y << " " << tria.p3.z << " " << n.x << " " << n.y << " " << n.z << " " << matIdx << " " << mat.r << " " << mat.g << " " << mat.b << " " << mat.a <<"\n";
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}
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}
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int vidx = 0;
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for (const Obstacle3D& obs : elements) {
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for (const Triangle3& tria : obs.triangles) {
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(void) tria;
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res << "3 " << vidx++ << " " << vidx++ << " " << vidx++ << "\n";
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}
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}
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// done
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return res.str();
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}
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struct Material {
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int r, g, b, a;
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Material(int r, int g, int b, int a) : r(r), g(g), b(b), a(a) {;}
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};
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int getMaterial(const Obstacle3D& o) const {
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if (o.type == Obstacle3D::Type::GROUND_OUTDOOR) {return 0;}
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if (o.type == Obstacle3D::Type::GROUND_INDOOR) {return 1;}
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if (o.type == Obstacle3D::Type::STAIR) {return 2;}
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if (o.mat == Floorplan::Material::CONCRETE) {return 3;}
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if (o.mat == Floorplan::Material::GLASS) {return 4;}
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return 5;
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}
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// Color getColor(const Obstacle3D& o) const {
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// if (o.type == Obstacle3D::Type::GROUND_OUTDOOR) {return Color(0,128,0,255);}
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// if (o.type == Obstacle3D::Type::GROUND_INDOOR) {return Color(64,64,64,255);}
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// if (o.mat == Floorplan::Material::CONCRETE) {return Color(128,128,128,255);}
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// if (o.mat == Floorplan::Material::GLASS) {return Color(128,128,255,64);}
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// return Color(200,200,200,255);
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// }
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};
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}
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#endif // FLOORPLANMESH_H
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