[artoolkit-commits] artoolkit/examples/collide object.c,NONE,1.1 object.h,NONE,1.1 collideTest.dsp,NONE,1.1 collideTest.c,NONE,1.1 Makefile.in,NONE,1.1 collideTest.vcproj,NONE,1.1

[Philip L. <phi...@us...>]

Update of /cvsroot/artoolkit/artoolkit/examples/collide
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv25429

Added Files:
	object.c object.h collideTest.dsp collideTest.c Makefile.in 
	collideTest.vcproj 
Log Message:
Added new examples.

--- NEW FILE: object.c ---

/* 
** ARToolKit object parsing function 
**   - reads in object data from object file in Data/object_data
**
** Format:
** <obj_num>
**
** <obj_name>
** <obj_pattern filename>
** <marker_width>
** <centerX centerY>
**
** ...
**
**	eg
**
**	#pattern 1
**	Hiro
**	Data/hiroPatt 
**	80.0
**	0.0 0.0
**
*/

#include <stdio.h>
#include <malloc.h>
#include <stdlib.h>
#include <string.h>
#include <AR/ar.h>
#include "object.h"

static char *get_buff( char *buf, int n, FILE *fp );

ObjectData_T *read_ObjData( char *name, int *objectnum )
{
    FILE          *fp;
    ObjectData_T  *object;
    char           buf[256], buf1[256];
    int            i;

	printf("Opening Data File %s\n",name);

    if( (fp=fopen(name, "r")) == NULL ) {
		printf("Can't find the file - quitting \n");
		return(0);
	}

    get_buff(buf, 256, fp);
    if( sscanf(buf, "%d", objectnum) != 1 ) {fclose(fp); return(0);}

	printf("About to load %d Models\n",*objectnum);

    object = (ObjectData_T *)malloc( sizeof(ObjectData_T) * *objectnum );
    if( object == NULL ) return(0);

    for( i = 0; i < *objectnum; i++ ) {
		object[i].visible = 0;        
		
		get_buff(buf, 256, fp);
        if( sscanf(buf, "%s", buf1, object[i].name) != 1 ) {
            fclose(fp); free(object); return(0);
        }

		printf("Read in No.%d \n", i+1);

        get_buff(buf, 256, fp);
        if( sscanf(buf, "%s", buf1) != 1 ) {
          fclose(fp); free(object); return(0);}
        
        if( (object[i].id = arLoadPatt(buf1)) < 0 )
            {fclose(fp); free(object); return(0);}

        get_buff(buf, 256, fp);
        if( sscanf(buf, "%lf", &object[i].marker_width) != 1 ) {
            fclose(fp); free(object); return(0);
        }

        get_buff(buf, 256, fp);
        if( sscanf(buf, "%lf %lf", &object[i].marker_center[0],
            &object[i].marker_center[1]) != 2 ) {
            fclose(fp); free(object); return(0);
        }
        
    }

    fclose(fp);

    return( object );
}

static char *get_buff( char *buf, int n, FILE *fp )
{
    char *ret;

    for(;;) {
        ret = fgets( buf, n, fp );
        if( ret == NULL ) return(NULL);
        if( buf[0] != '\n' && buf[0] != '#' ) return(ret);
    }
}

--- NEW FILE: collideTest.c ---
#ifdef _WIN32
#include <windows.h>
#endif
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>

#include <GL/gl.h>
#include <GL/glut.h>
#include <AR/gsub.h>
#include <AR/param.h>
#include <AR/ar.h>
#include <AR/video.h>

#include "object.h"


#define COLLIDE_DIST 30000.0

/* Object Data */
char            *model_name = "Data/object_data2";
ObjectData_T    *object;
int             objectnum;

int             xsize, ysize;
int				thresh = 100;
int             count = 0;

/* set video capture configuration */
#ifdef _WIN32
char			*vconf = "flipV,showDlg"; // see video.h for a list of supported parameters
#else
char			*vconf = "";
#endif

char           *cparam_name    = "Data/camera_para.dat";
ARParam         cparam;

static void   init(void);
static void   cleanup(void);
static void   keyEvent( unsigned char key, int x, int y);
static void   mainLoop(void);
static int checkCollisions( ObjectData_T object0, ObjectData_T object1, float collide_dist);
static int draw( ObjectData_T *object, int objectnum );
static int  draw_object( int obj_id, double gl_para[16], int collide_flag );

int main()
{
	//initialize applications
    init();

	//start video capture
	arVideoCapStart();

	//start the main event loop
    argMainLoop( NULL, keyEvent, mainLoop );

	return 0;
}

static void   keyEvent( unsigned char key, int x, int y)   
{
    /* quit if the ESC key is pressed */
    if( key == 0x1b ) {
        printf("*** %f (frame/sec)\n", (double)count/arUtilTimer());
        cleanup();
        exit(0);
    }
}

/* main loop */
static void mainLoop(void)
{
    ARUint8         *dataPtr;
    ARMarkerInfo    *marker_info;
    int             marker_num;
    int             i,j,k;

    /* grab a video frame */
    if( (dataPtr = (ARUint8 *)arVideoGetImage()) == NULL ) {
        arUtilSleep(2);
        return;
    }
	
    if( count == 0 ) arUtilTimerReset();  
    count++;

	/*draw the video*/
    argDrawMode2D();
    argDispImage( dataPtr, 0,0 );

	/* capture the next video frame */
	arVideoCapNext();
	
	glColor3f( 1.0, 0.0, 0.0 );
	glLineWidth(6.0);

	/* detect the markers in the video frame */ 
	if(arDetectMarker(dataPtr, thresh, 
		&marker_info, &marker_num) < 0 ) {
		cleanup(); 
		exit(0);
	}
	for( i = 0; i < marker_num; i++ ) {
		argDrawSquare(marker_info[i].vertex,0,0);
	}

	/* check for known patterns */
    for( i = 0; i < objectnum; i++ ) {
		k = -1;
		for( j = 0; j < marker_num; j++ ) {
	        if( object[i].id == marker_info[j].id) {

				/* you've found a pattern */
				//printf("Found pattern: %d ",patt_id);
				glColor3f( 0.0, 1.0, 0.0 );
				argDrawSquare(marker_info[j].vertex,0,0);

				if( k == -1 ) k = j;
		        else /* make sure you have the best pattern (highest confidence factor) */
					if( marker_info[k].cf < marker_info[j].cf ) k = j;
			}
		}
		if( k == -1 ) {
			object[i].visible = 0;
			continue;
		}
		
		/* calculate the transform for each marker */
		if( object[i].visible == 0 ) {
            arGetTransMat(&marker_info[k],
                          object[i].marker_center, object[i].marker_width,
                          object[i].trans);
        }
        else {
            arGetTransMatCont(&marker_info[k], object[i].trans,
                          object[i].marker_center, object[i].marker_width,
                          object[i].trans);
        }
        object[i].visible = 1;
	}

	/*check for object collisions between marker 0 and 1 */
	if(object[0].visible && object[1].visible){
		if(checkCollisions(object[0],object[1],COLLIDE_DIST)){
			object[0].collide = 1;
			object[1].collide = 1;
		}
		else{
			object[0].collide = 0;
			object[1].collide = 0;
		}
	}
	
	/* draw the AR graphics */
    draw( object, objectnum );

	/*swap the graphics buffers*/
	argSwapBuffers();
}

/* check collision between two markers */
static int checkCollisions( ObjectData_T object0, ObjectData_T object1, float collide_dist)
{
	float x1,y1,z1;
	float x2,y2,z2;
	float dist;

	x1 = object0.trans[0][3];
	y1 = object0.trans[1][3];
	z1 = object0.trans[2][3];

	x2 = object1.trans[0][3];
	y2 = object1.trans[1][3];
	z2 = object1.trans[2][3];

	dist = (x1-x2)*(x1-x2)+(y1-y2)*(y1-y2)+(z1-z2)*(z1-z2);

	printf("Dist = %3.2f\n",dist);

	if(dist < collide_dist)
		return 1;
	else 
		return 0;
}
static void init( void )
{
	ARParam  wparam;

    /* open the video path */
    if( arVideoOpen( vconf ) < 0 ) exit(0);
    /* find the size of the window */
    if( arVideoInqSize(&xsize, &ysize) < 0 ) exit(0);
    printf("Image size (x,y) = (%d,%d)\n", xsize, ysize);

    /* set the initial camera parameters */
    if( arParamLoad(cparam_name, 1, &wparam) < 0 ) {
        printf("Camera parameter load error !!\n");
        exit(0);
    }
    arParamChangeSize( &wparam, xsize, ysize, &cparam );
    arInitCparam( &cparam );
    printf("*** Camera Parameter ***\n");
    arParamDisp( &cparam );

	/* load in the object data - trained markers and associated bitmap files */
    if( (object=read_ObjData(model_name, &objectnum)) == NULL ) exit(0);
    printf("Objectfile num = %d\n", objectnum);

    /* open the graphics window */
    argInit( &cparam, 2.0, 0, 0, 0, 0 );
}

/* cleanup function called when program exits */
static void cleanup(void)
{
	arVideoCapStop();
    arVideoClose();
    argCleanup();
}

/* draw the the AR objects */
static int draw( ObjectData_T *object, int objectnum )
{
    int     i;
    double  gl_para[16];
       
	glClearDepth( 1.0 );
    glClear(GL_DEPTH_BUFFER_BIT);
    glEnable(GL_DEPTH_TEST);
    glDepthFunc(GL_LEQUAL);
    glEnable(GL_LIGHTING);

    /* calculate the viewing parameters - gl_para */
    for( i = 0; i < objectnum; i++ ) {
        if( object[i].visible == 0 ) continue;
        argConvGlpara(object[i].trans, gl_para);
        draw_object( object[i].id, gl_para, object[i].collide );
    }
     
	glDisable( GL_LIGHTING );
    glDisable( GL_DEPTH_TEST );
	
    return(0);
}

/* draw the user object */
static int  draw_object( int obj_id, double gl_para[16], int collide_flag )
{
    GLfloat   mat_ambient[]				= {0.0, 0.0, 1.0, 1.0};
	GLfloat   mat_ambient_collide[]     = {1.0, 0.0, 0.0, 1.0};
    GLfloat   mat_flash[]				= {0.0, 0.0, 1.0, 1.0};
	GLfloat   mat_flash_collide[]       = {1.0, 0.0, 0.0, 1.0};
    GLfloat   mat_flash_shiny[] = {50.0};
    GLfloat   light_position[]  = {100.0,-200.0,200.0,0.0};
    GLfloat   ambi[]            = {0.1, 0.1, 0.1, 0.1};
    GLfloat   lightZeroColor[]  = {0.9, 0.9, 0.9, 0.1};
 
    argDrawMode3D();
    argDraw3dCamera( 0, 0 );
    glMatrixMode(GL_MODELVIEW);
    glLoadMatrixd( gl_para );

 	/* set the material */
    glEnable(GL_LIGHTING);
    glEnable(GL_LIGHT0);
    glLightfv(GL_LIGHT0, GL_POSITION, light_position);
    glLightfv(GL_LIGHT0, GL_AMBIENT, ambi);
    glLightfv(GL_LIGHT0, GL_DIFFUSE, lightZeroColor);

    glMaterialfv(GL_FRONT, GL_SHININESS, mat_flash_shiny);	

	if(collide_flag){
		glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash_collide);
		glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient_collide);
		/* draw a cube */
		glTranslatef( 0.0, 0.0, 30.0 );
		glutSolidSphere(30,12,6);
	}
	else {
		glMaterialfv(GL_FRONT, GL_SPECULAR, mat_flash);
		glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
		/* draw a cube */
		glTranslatef( 0.0, 0.0, 30.0 );
		glutSolidCube(60);
	}

    argDrawMode2D();

    return 0;
}

--- NEW FILE: Makefile.in ---
INC_DIR= ../../include
LIB_DIR= ../../lib
BIN_DIR= ../../bin

LDFLAG=@LDFLAG@ -L$(LIB_DIR)
LIBS= -lARgsub -lARvideo -lAR @LIBS@
CFLAG= @CFLAG@ -I$(INC_DIR)

OBJS = object.o
HEADDERS = object.h

all: $(BIN_DIR)/collideTest

$(BIN_DIR)/collideTest: collideTest.o $(OBJS)
	cc -o $(BIN_DIR)/collideTest collideTest.o $(OBJS) $(LDFLAG) $(LIBS)

collideTest.o: collideTest.c $(HEADDERS)
	cc -c $(CFLAG) collideTest.c

object.o: object.c $(HEADDERS)
	cc -c $(CFLAG) object.c

clean:
	rm -f *.o
	rm -f $(BIN_DIR)/collideTest

allclean:
	rm -f *.o
	rm -f $(BIN_DIR)/collideTest
	rm -f Makefile

--- NEW FILE: collideTest.vcproj ---
<?xml version="1.0" encoding="Windows-1252"?>
<VisualStudioProject
	ProjectType="Visual C++"
	Version="7.10"
	Name="collideTest"
	ProjectGUID="{5FA7A8DD-5430-4644-91A9-51626083BB97}">
	<Platforms>
		<Platform
			Name="Win32"/>
	</Platforms>
	<Configurations>
		<Configuration
			Name="Debug|Win32"
			OutputDirectory="Debug"
			IntermediateDirectory="Debug"
			ConfigurationType="1">
			<Tool
				Name="VCCLCompilerTool"
				Optimization="0"
				AdditionalIncludeDirectories="$(ProjectDir)/../../include"
				PreprocessorDefinitions="WIN32;_DEBUG"
				BasicRuntimeChecks="3"
				RuntimeLibrary="1"
				BrowseInformation="1"
				WarningLevel="3"
				DebugInformationFormat="3"/>
			<Tool
				Name="VCCustomBuildTool"/>
			<Tool
				Name="VCLinkerTool"
				AdditionalOptions="/DEBUG"
				AdditionalDependencies="libARd.lib libARgsubd.lib libARvideod.lib"
				OutputFile="$(ProjectDir)/../../bin/$(ProjectName)d.exe"
				AdditionalLibraryDirectories="&quot;$(ProjectDir)/../../lib&quot;"
				GenerateDebugInformation="TRUE"/>
			<Tool
				Name="VCMIDLTool"
				PreprocessorDefinitions="_DEBUG"
				MkTypLibCompatible="TRUE"
				SuppressStartupBanner="TRUE"
				TargetEnvironment="1"/>
			<Tool
				Name="VCPostBuildEventTool"/>
			<Tool
				Name="VCPreBuildEventTool"/>
			<Tool
				Name="VCPreLinkEventTool"/>
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				Name="VCResourceCompilerTool"/>
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				Name="VCWebServiceProxyGeneratorTool"/>
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				Name="VCXMLDataGeneratorTool"/>
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				Name="VCWebDeploymentTool"/>
			<Tool
				Name="VCManagedWrapperGeneratorTool"/>
			<Tool
				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
		</Configuration>
		<Configuration
			Name="Release|Win32"
			OutputDirectory="Release"
			IntermediateDirectory="Release"
			ConfigurationType="1"
			WholeProgramOptimization="TRUE">
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				Name="VCCLCompilerTool"
				GlobalOptimizations="TRUE"
				InlineFunctionExpansion="1"
				FavorSizeOrSpeed="1"
				AdditionalIncludeDirectories="$(ProjectDir)/../../include"
				PreprocessorDefinitions="WIN32;NDEBUG"
				RuntimeLibrary="0"/>
			<Tool
				Name="VCCustomBuildTool"/>
			<Tool
				Name="VCLinkerTool"
				AdditionalDependencies="libAR.lib libARgsub.lib libARvideo.lib"
				OutputFile="$(ProjectDir)/../../bin/$(ProjectName).exe"
				AdditionalLibraryDirectories="&quot;$(ProjectDir)/../../lib&quot;"/>
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				Name="VCMIDLTool"
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				Name="VCPostBuildEventTool"/>
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				Name="VCPreBuildEventTool"/>
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				Name="VCManagedWrapperGeneratorTool"/>
			<Tool
				Name="VCAuxiliaryManagedWrapperGeneratorTool"/>
		</Configuration>
	</Configurations>
	<References>
	</References>
	<Files>
		<File
			RelativePath="collideTest.c">
		</File>
		<File
			RelativePath="object.c">
		</File>
		<File
			RelativePath="object.h">
		</File>
	</Files>
	<Globals>
	</Globals>
</VisualStudioProject>

--- NEW FILE: object.h ---
#ifndef OBJECT_H
#define OBJECT_H


#define   OBJECT_MAX       30

typedef struct {
    char       name[256];
    int        id;
    int        visible;
	int		   collide;
    double     marker_coord[4][2];
    double     trans[3][4];
    double     marker_width;
    double     marker_center[2];
} ObjectData_T;

ObjectData_T  *read_ObjData( char *name, int *objectnum );

#endif

--- NEW FILE: collideTest.dsp ---
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# Microsoft Developer Studio Generated Build File, Format Version 6.00
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CFG=collideTest - Win32 Debug
!MESSAGE This is not a valid makefile. To build this project using NMAKE,
!MESSAGE use the Export Makefile command and run
!MESSAGE 
!MESSAGE NMAKE /f "collideTest.mak".
!MESSAGE 
!MESSAGE You can specify a configuration when running NMAKE
!MESSAGE by defining the macro CFG on the command line. For example:
!MESSAGE 
!MESSAGE NMAKE /f "collideTest.mak" CFG="collideTest - Win32 Debug"
!MESSAGE 
!MESSAGE Possible choices for configuration are:
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!MESSAGE "collideTest - Win32 Debug" (based on "Win32 (x86) Console Application")
!MESSAGE 

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