Navigation across a VisualModel using the minimal triangle mesh (NavMesh)

examples/CMakeLists.txt

@@ -360,6 +360,9 @@ if(NOT APPLE)
   target_link_libraries(sphere OpenGL::GL glfw Freetype::Freetype)
 endif()
 
+add_executable(ellipsoid ellipsoid.cpp)
+target_link_libraries(ellipsoid OpenGL::GL glfw Freetype::Freetype)
+
 # constexpr code won't work on Apple Clang
 if(NOT APPLE)
   add_executable(icosahedron icosahedron.cpp)
@@ -377,6 +380,9 @@ if(NOT APPLE)
   target_link_libraries(geodesic_ce OpenGL::GL glfw Freetype::Freetype)
 endif()
 
+add_executable(model_crawler model_crawler.cpp)
+target_link_libraries(model_crawler OpenGL::GL glfw Freetype::Freetype)
+
 add_executable(tri tri.cpp)
 target_link_libraries(tri OpenGL::GL glfw Freetype::Freetype)
 
@@ -386,6 +392,9 @@ target_link_libraries(draw_triangles OpenGL::GL glfw Freetype::Freetype)
 add_executable(draw_triangles_intersections draw_triangles_intersections.cpp)
 target_link_libraries(draw_triangles_intersections OpenGL::GL glfw Freetype::Freetype)
 
+add_executable(triangle_intersect triangle_intersect.cpp)
+target_link_libraries(triangle_intersect OpenGL::GL glfw Freetype::Freetype)
+
 add_executable(voronoi_random voronoi_random.cpp)
 target_link_libraries(voronoi_random OpenGL::GL glfw Freetype::Freetype)
 
@@ -425,11 +434,14 @@ target_link_libraries(rhombo_scene2 OpenGL::GL glfw Freetype::Freetype)
 add_executable(cube cube.cpp)
 target_link_libraries(cube OpenGL::GL glfw Freetype::Freetype)
 
-if(Eigen3_FOUND)
-  add_executable(cubetrans cubetrans.cpp)
-  target_include_directories (cubetrans BEFORE PRIVATE ${EIGEN3_INCLUDE_DIR})
-  target_link_libraries(cubetrans OpenGL::GL glfw Freetype::Freetype)
-endif(Eigen3_FOUND)
+# Eigen finding is not reliable on Github Mac OS runners
+if(NOT APPLE)
+  if(Eigen3_FOUND)
+    add_executable(cubetrans cubetrans.cpp)
+    target_include_directories (cubetrans BEFORE PRIVATE ${EIGEN3_INCLUDE_DIR})
+    target_link_libraries(cubetrans OpenGL::GL glfw Freetype::Freetype)
+  endif(Eigen3_FOUND)
+endif()
 
 add_executable(cubetrans2 cubetrans2.cpp)
 target_link_libraries(cubetrans2 OpenGL::GL glfw Freetype::Freetype)
@@ -529,3 +541,7 @@ endif()
 
 add_executable(show_boundingboxes show_boundingboxes.cpp)
 target_link_libraries(show_boundingboxes OpenGL::GL glfw Freetype::Freetype)
+
+# if have compound-ray header
+add_executable(cray_eye cray_eye.cpp)
+target_link_libraries(cray_eye OpenGL::GL glfw Freetype::Freetype)

examples/cray_eye.cpp

@@ -0,0 +1,76 @@
+/*
+ * A compound ray eye viewer
+ *
+ * Demonstrating use of mplot::compoundray::EyeVisual
+ */
+
+#include <iostream>
+#include <string>
+#include <memory>
+
+#include <sm/vec>
+#include <sm/vvec>
+
+#include <mplot/Visual.h>
+#include <mplot/ColourMap.h>
+#include <mplot/SphereVisual.h>
+#include <mplot/VectorVisual.h>
+#include <mplot/compoundray/EyeVisual.h>
+
+int main (int argc, char** argv)
+{
+    std::string eyefile = "";
+    if (argc < 2) {
+        std::cout << "Usage: " << argv[0] << " path/to/eyefile.eye [projection sphere radius]\n";
+        return -1;
+    } else {
+        eyefile = std::string (argv[1]);
+    }
+
+    float psrad = 0.5f;
+    if (argc > 2) { psrad = std::atof (argv[2]); }
+
+    auto v = mplot::Visual<>(1024, 768, "mplot::compoundray::EyeVisual");
+
+    // We read the information from the eye file into a vector of Ommatidium objects.  Ommatidium is
+    // defined in "cameras/CompoundEyeDataTypes.h" in compound ray, mplot::Ommatidium is a
+    // mplot/Seb's maths style equivalent. It contains 2 3D float vectors and two scalar floating point
+    // values.
+    auto ommatidia = std::make_unique<std::vector<mplot::compoundray::Ommatidium>>();
+    std::vector<std::array<float, 3>> ommatidiaColours;
+
+    // Read the eye file into ommatidia data structure. compound ray does this internally when we're
+    // using it, but for this example we instead make use of mplot::compoundray::readEye
+    if (mplot::compoundray::readEye (ommatidia.get(), eyefile) == nullptr) { std::cout << "Failed to read eye\n"; return -1; }
+
+    // Make some dummy data to demo the eye
+    sm::vvec<float> ommatidiaData;
+    ommatidiaData.linspace (0, 1, ommatidia->size());
+    // Colour it with a colour map
+    mplot::ColourMap cm (mplot::ColourMapType::Plasma);
+    ommatidiaColours.resize (ommatidia->size());
+    for (size_t i = 0; i < ommatidia->size(); ++i) {
+        ommatidiaColours[i] = cm.convert (ommatidiaData[i]);
+    }
+
+    auto eyevm = std::make_unique<mplot::compoundray::EyeVisual<>> (sm::vec<>{}, &ommatidiaColours, ommatidia.get());
+    v.bindmodel (eyevm);
+    eyevm->name = "CompoundRay Eye";
+    eyevm->show_cones = true;
+
+    auto ptype = mplot::compoundray::EyeVisual<>::projection_type::equirectangular; // mercator, equirectangular or cassini
+    sm::vec<> centre = { 0, 0, 0 };
+    sm::mat44<float> twod_tr;
+    twod_tr.translate (sm::vec<>{0,0,-0.1});
+    eyevm->add_spherical_projection (ptype, twod_tr, centre, psrad);
+    eyevm->pre_set_cone_length (4e-6f);
+    eyevm->show_sphere = true;
+    eyevm->show_rays = false;
+    eyevm->finalize();
+
+    [[maybe_unused]] auto ep = v.addVisualModel (eyevm);
+    // ep->reinitColours();
+    ep->scaleViewMatrix (1000.0f);
+
+    v.keepOpen();
+}

examples/draw_triangles_intersections.cpp

@@ -268,6 +268,9 @@ int main()
     sm::vec<> start = { 2, 0, 5 };
     sm::vec<> dirn = { 0, 0, -10 };
 
+    sm::vec<> start_fr2 = { 1, .9, 5 };
+    sm::vec<> dirn_fr2 = { 0.5, -0.7, -10 };
+
     sm::vec<> start_bh = { 0, 0, -5 };
     sm::vec<> dirn_bh = { 1.5, 1.5, 10 };
 
@@ -281,6 +284,11 @@ int main()
     sv->finalize();
     v.addVisualModel (sv);
 
+    sv = std::make_unique<mplot::SphereVisual<>>(start_fr2, 0.1, mplot::colour::goldenrod3);
+    v.bindmodel (sv);
+    sv->finalize();
+    v.addVisualModel (sv);
+
     auto vvm = std::make_unique<mplot::VectorVisual<float, 3>>(start);
     v.bindmodel (vvm);
     vvm->thevec = dirn;
@@ -305,14 +313,26 @@ int main()
     vvm->finalize();
     [[maybe_unused]] auto vvmp2 = v.addVisualModel (vvm);
 
-    tvp->vertex_postprocess();
+    vvm = std::make_unique<mplot::VectorVisual<float, 3>>(start_fr2);
+    v.bindmodel (vvm);
+    vvm->thevec = dirn_fr2;
+    vvm->vgoes = VectorGoes::FromOrigin;
+    vvm->thickness = 0.02f;
+    vvm->arrowhead_prop = 0.1f;
+    vvm->fixed_colour = true;
+    vvm->single_colour = mplot::colour::crimson;
+    vvm->addLabel ("Ray from front through middle", {-0.8, -0.5, 0}, mplot::TextFeatures(0.1f));
+    vvm->finalize();
+    [[maybe_unused]] auto vvmp3 = v.addVisualModel (vvm);
+
+    tvp->make_navmesh();
 
     auto vm = tvp->getViewMatrix();
     auto vmi = vm.inverse();
 
     auto start_wr = (vmi * start).less_one_dim(); // wr to tvp
     std::cout << "start_wr = " << start_wr << std::endl;
-    auto [hit, ti, tn] = tvp->find_triangle_crossing (start_wr, dirn);
+    auto [hit, ti, tn] = tvp->navmesh->find_triangle_crossing (start_wr, dirn);
     if (ti[0] == std::numeric_limits<uint32_t>::max()) {
         std::cout << "NO HIT\n";
     } else {
@@ -325,9 +345,23 @@ int main()
         v.addVisualModel (sv);
     }
 
+    auto start_wr_fr2 = (vmi * start_fr2).less_one_dim(); // wr to tvp
+    auto [hit_fr2, ti_fr2, tn_fr2] = tvp->navmesh->find_triangle_crossing (start_wr_fr2, dirn_fr2);
+    if (ti[0] == std::numeric_limits<uint32_t>::max()) {
+        std::cout << "NO HIT\n";
+    } else {
+        std::cout << "Indices: " << ti_fr2[0] << "," << ti_fr2[1] << "," << ti_fr2[2] << std::endl;
+        std::cout << "Contains hit " << hit_fr2 << std::endl;
+
+        sv = std::make_unique<mplot::SphereVisual<>>(hit_fr2, 0.07, mplot::colour::springgreen2);
+        v.bindmodel (sv);
+        sv->finalize();
+        v.addVisualModel (sv);
+    }
+
     auto start_wr_bh = (vmi * start_bh).less_one_dim(); // wr to tvp
     std::cout << "start_wr = " << start_wr << std::endl;
-    auto [hit_bh, ti_bh, tn_bh] = tvp->find_triangle_crossing (start_wr_bh, dirn_bh);
+    auto [hit_bh, ti_bh, tn_bh] = tvp->navmesh->find_triangle_crossing (start_wr_bh, dirn_bh);
     if (ti_bh[0] == std::numeric_limits<uint32_t>::max()) {
         std::cout << "NO HIT\n";
     } else {
@@ -339,17 +373,7 @@ int main()
         sv->finalize();
         v.addVisualModel (sv);
     }
-#if 0
-    auto dtv = std::make_unique<doubletrivis<>>(sm::vec<float>{3.0f,0.0f,0.0f});
-    v.bindmodel (dtv);
-    dtv->finalize();
-    v.addVisualModel (dtv);
-
-    auto tctv = std::make_unique<twocolourtri<>>(sm::vec<float>{6.0f,0.0f,0.0f});
-    v.bindmodel (tctv);
-    tctv->finalize();
-    v.addVisualModel (tctv);
-#endif
+
     v.keepOpen();
     return 0;
 }

examples/ellipsoid.cpp

@@ -0,0 +1,55 @@
+/*
+ * Visualize an ellipsoid
+ */
+#include <iostream>
+#include <stdexcept>
+#include <string>
+#include <sstream>
+
+#include <sm/vec>
+
+#include <mplot/Visual.h>
+#include <mplot/VisualModel.h>
+#include <mplot/colour.h>
+#include <mplot/NormalsVisual.h>
+
+// Quick visual that simply draws ellipsoid
+template <int glver = mplot::gl::version_4_1>
+class PrimitiveVisual : public mplot::VisualModel<glver>
+{
+public:
+    PrimitiveVisual (const sm::vec<float> _offset) { this->viewmatrix.translate (_offset); }
+
+    void initializeVertices()
+    {
+        sm::mat44<float> tr;
+        tr.rotate (sm::vec<>::uz(), sm::mathconst<float>::pi_over_4);
+        this->computeEllipsoid (sm::vec<float>{0},
+                                mplot::colour::royalblue,
+                                mplot::colour::maroon3,
+                                sm::vec<float>{1,2,3},
+                                40, 40, tr);
+    }
+};
+
+int main()
+{
+    mplot::Visual v(1024, 768, "Ellipsoid primitive");
+    v.lightingEffects (true);
+
+    auto pvm = std::make_unique<PrimitiveVisual<>> (sm::vec<>{});
+    v.bindmodel (pvm);
+    pvm->finalize();
+    auto pvmp = v.addVisualModel (pvm);
+
+    constexpr bool show_normals = true;
+    if constexpr (show_normals) {
+        // Create an associate normals model
+        auto nrm = std::make_unique<mplot::NormalsVisual<>> (pvmp);
+        v.bindmodel (nrm);
+        nrm->finalize();
+        v.addVisualModel (nrm);
+    }
+
+    v.keepOpen();
+}

examples/geodesic_with_normals.cpp

@@ -52,8 +52,6 @@ int main()
             gv1p->data.linspace (0.0f, 1+i * imax_mult, sz1);
             gv1p->reinitColours();
 
-            gv1p->vertex_postprocess(); // creates the triangles and normals required for NormalsVisual
-
             // Create an associate normals model
             auto nrm = std::make_unique<mplot::NormalsVisual<>> (gv1p);
             v.bindmodel (nrm);