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  • Drawing texture does not work anymore with a small amount of triangles

    - by Paul
    When i draw lines, the vertices are well connected. But when i draw the texture inside the triangles, it only works with i<4 in the for loop, otherwise with i<5 for example, there is a EXC_BAD_ACCESS message, at @synthesize textureImage = _textureImage. I don't understand why. (The generatePolygons method seems to work fine as i tried to draw lines with many vertices as in the second image below. And textureImage remains the same for i<4 or i<5 : it's a 512px square image). Here are the images : What i want to achieve is to put the red points and connect them to the y-axis (the green points) and color the area (the green triangles) : If i only draw lines, it works fine : Then with a texture color, it works for i<4 in the loop (the red points in my first image, plus the fifth one to connect the last y) : But then, if i set i<5, the debug tool says EXC_BAD_ACCESS at the synthesize of _textureImage. Here is my code : I set a texture color in HelloWordLayer.mm with : CCSprite *textureImage = [self spriteWithColor:color3 textureSize:512]; _terrain.textureImage = textureImage; Then in the class Terrain, i create the vertices and put the texture in the draw method : @implementation Terrain @synthesize textureImage = _textureImage; //EXC_BAD_ACCESS for i<5 - (void)generatePath2{ CGSize winSize = [CCDirector sharedDirector].winSize; float x = 40; float y = 0; for(int i = 0; i < kMaxKeyPoints+1; ++i) { _hillKeyPoints[i] = CGPointMake(x, y); x = 150 + (random() % (int) 30); y += 30; } } -(void)generatePolygons{ _nPolyVertices = 0; float x1 = 0; float y1 = 0; int keyPoints = 0; for (int i=0; i<4; i++){ /* HERE : 4 = OK / 5 = crash */ //V0: at (0,0) _polyVertices[_nPolyVertices] = CGPointMake(x1, y1); _polyTexCoords[_nPolyVertices++] = CGPointMake(x1, y1); //V1: to the first "point" _polyVertices[_nPolyVertices] = CGPointMake(_hillKeyPoints[keyPoints].x, _hillKeyPoints[keyPoints].y); _polyTexCoords[_nPolyVertices++] = CGPointMake(_hillKeyPoints[keyPoints].x, _hillKeyPoints[keyPoints].y); keyPoints++; //from point at index 0 to 1 //V2, same y as point n°2: _polyVertices[_nPolyVertices] = CGPointMake(0, _hillKeyPoints[keyPoints].y); _polyTexCoords[_nPolyVertices++] = CGPointMake(0, _hillKeyPoints[keyPoints].y); //V1 again _polyVertices[_nPolyVertices] = _polyVertices[_nPolyVertices-2]; _polyTexCoords[_nPolyVertices++] = _polyVertices[_nPolyVertices-2]; //V2 again _polyVertices[_nPolyVertices] = _polyVertices[_nPolyVertices-2]; _polyTexCoords[_nPolyVertices++] = _polyVertices[_nPolyVertices-2]; //V3 = same x,y as point at index 1 _polyVertices[_nPolyVertices] = CGPointMake(_hillKeyPoints[keyPoints].x, _hillKeyPoints[keyPoints].y); _polyTexCoords[_nPolyVertices] = CGPointMake(_hillKeyPoints[keyPoints].x, _hillKeyPoints[keyPoints].y); y1 = _polyVertices[_nPolyVertices].y; _nPolyVertices++; } } - (id)init { if ((self = [super init])) { [self generatePath2]; [self generatePolygons]; } return self; } - (void) draw { //glDisable(GL_TEXTURE_2D); glDisableClientState(GL_COLOR_ARRAY); glDisableClientState(GL_TEXTURE_COORD_ARRAY); glBindTexture(GL_TEXTURE_2D, _textureImage.texture.name); glColor4f(1, 1, 1, 1); glVertexPointer(2, GL_FLOAT, 0, _polyVertices); glTexCoordPointer(2, GL_FLOAT, 0, _polyTexCoords); glDrawArrays(GL_TRIANGLE_STRIP, 0, (GLsizei)_nPolyVertices); glColor4f(1, 1, 1, 1); for(int i = 1; i < 40; ++i) { ccDrawLine(_polyVertices[i-1], _polyVertices[i]); } // restore default GL states glEnable(GL_TEXTURE_2D); glEnableClientState(GL_COLOR_ARRAY); glEnableClientState(GL_TEXTURE_COORD_ARRAY); } Do you see anything wrong in this code? Thanks for your help

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  • Extrapolation breaks collision detection

    - by user22241
    Before applying extrapolation to my sprite's movement, my collision worked perfectly. However, after applying extrapolation to my sprite's movement (to smooth things out), the collision no longer works. This is how things worked before extrapolation: However, after I implement my extrapolation, the collision routine breaks. I am assuming this is because it is acting upon the new coordinate that has been produced by the extrapolation routine (which is situated in my render call ). After I apply my extrapolation How to correct this behaviour? I've tried puting an extra collision check just after extrapolation - this does seem to clear up a lot of the problems but I've ruled this out because putting logic into my rendering is out of the question. I've also tried making a copy of the spritesX position, extrapolating that and drawing using that rather than the original, thus leaving the original intact for the logic to pick up on - this seems a better option, but it still produces some weird effects when colliding with walls. I'm pretty sure this also isn't the correct way to deal with this. I've found a couple of similar questions on here but the answers haven't helped me. This is my extrapolation code: public void onDrawFrame(GL10 gl) { //Set/Re-set loop back to 0 to start counting again loops=0; while(System.currentTimeMillis() > nextGameTick && loops < maxFrameskip){ SceneManager.getInstance().getCurrentScene().updateLogic(); nextGameTick+=skipTicks; timeCorrection += (1000d/ticksPerSecond) % 1; nextGameTick+=timeCorrection; timeCorrection %=1; loops++; tics++; } extrapolation = (float)(System.currentTimeMillis() + skipTicks - nextGameTick) / (float)skipTicks; render(extrapolation); } Applying extrapolation render(float extrapolation){ //This example shows extrapolation for X axis only. Y position (spriteScreenY is assumed to be valid) extrapolatedPosX = spriteGridX+(SpriteXVelocity*dt)*extrapolation; spriteScreenPosX = extrapolationPosX * screenWidth; drawSprite(spriteScreenX, spriteScreenY); } Edit As I mentioned above, I have tried making a copy of the sprite's coordinates specifically to draw with.... this has it's own problems. Firstly, regardless of the copying, when the sprite is moving, it's super-smooth, when it stops, it's wobbling slightly left/right - as it's still extrapolating it's position based on the time. Is this normal behavior and can we 'turn it off' when the sprite stops? I've tried having flags for left / right and only extrapolating if either of these is enabled. I've also tried copying the last and current positions to see if there is any difference. However, as far as collision goes, these don't help. If the user is pressing say, the right button and the sprite is moving right, when it hits a wall, if the user continues to hold the right button down, the sprite will keep animating to the right, while being stopped by the wall (therefore not actually moving), however because the right flag is still set and also because the collision routine is constantly moving the sprite out of the wall, it still appear to the code (not the player) that the sprite is still moving, and therefore extrapolation continues. So what the player would see, is the sprite 'static' (yes, it's animating, but it's not actually moving across the screen), and every now and then it shakes violently as the extrapolation attempts to do it's thing....... Hope this help

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  • Circle-Line Collision Detection Problem

    - by jazzdawg
    I am currently developing a breakout clone and I have hit a roadblock in getting collision detection between a ball (circle) and a brick (convex polygon) working correctly. I am using a Circle-Line collision detection test where each line represents and edge on the convex polygon brick. For the majority of the time the Circle-Line test works properly and the points of collision are resolved correctly. Collision detection working correctly. However, occasionally my collision detection code returns false due to a negative discriminant when the ball is actually intersecting the brick. Collision detection failing. I am aware of the inefficiency with this method and I am using axis aligned bounding boxes to cut down on the number of bricks tested. My main concern is if there are any mathematical bugs in my code below. /* * from and to are points at the start and end of the convex polygons edge. * This function is called for every edge in the convex polygon until a * collision is detected. */ bool circleLineCollision(Vec2f from, Vec2f to) { Vec2f lFrom, lTo, lLine; Vec2f line, normal; Vec2f intersectPt1, intersectPt2; float a, b, c, disc, sqrt_disc, u, v, nn, vn; bool one = false, two = false; // set line vectors lFrom = from - ball.circle.centre; // localised lTo = to - ball.circle.centre; // localised lLine = lFrom - lTo; // localised line = from - to; // calculate a, b & c values a = lLine.dot(lLine); b = 2 * (lLine.dot(lFrom)); c = (lFrom.dot(lFrom)) - (ball.circle.radius * ball.circle.radius); // discriminant disc = (b * b) - (4 * a * c); if (disc < 0.0f) { // no intersections return false; } else if (disc == 0.0f) { // one intersection u = -b / (2 * a); intersectPt1 = from + (lLine.scale(u)); one = pointOnLine(intersectPt1, from, to); if (!one) return false; return true; } else { // two intersections sqrt_disc = sqrt(disc); u = (-b + sqrt_disc) / (2 * a); v = (-b - sqrt_disc) / (2 * a); intersectPt1 = from + (lLine.scale(u)); intersectPt2 = from + (lLine.scale(v)); one = pointOnLine(intersectPt1, from, to); two = pointOnLine(intersectPt2, from, to); if (!one && !two) return false; return true; } } bool pointOnLine(Vec2f p, Vec2f from, Vec2f to) { if (p.x >= min(from.x, to.x) && p.x <= max(from.x, to.x) && p.y >= min(from.y, to.y) && p.y <= max(from.y, to.y)) return true; return false; }

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  • Rotation of viewplatform in Java3D

    - by user29163
    I have just started with Java3D programming. I thought I had built up some basic intuition about how the scene graph works, but something that should work, does not work. I made a simple program for rotating a pyramid around the y-axis. This was done just by adding a RotationInterpolator R to the TransformGroup above the pyramid. Then I thought hey, can I now remove the RotationInterpolator from this TransformGroup, then add it to the TransformGroup above my ViewPlatform leaf. This should work if I have understood how things work. Adding the RotationInterpolator to this TransformGroup, should make the children of this TransformGroup rotate, and the ViewingPlatform is a child of the TransformGroup. Any ideas on where my reasoning is flawed? Here is the code for setting up the universe, and the view branchgroup. import java.awt.*; import java.awt.event.*; import javax.media.j3d.*; import javax.vecmath.*; public class UniverseBuilder { // User-specified canvas Canvas3D canvas; // Scene graph elements to which the user may want access VirtualUniverse universe; Locale locale; TransformGroup vpTrans; View view; public UniverseBuilder(Canvas3D c) { this.canvas = c; // Establish a virtual universe that has a single // hi-res Locale universe = new VirtualUniverse(); locale = new Locale(universe); // Create a PhysicalBody and PhysicalEnvironment object PhysicalBody body = new PhysicalBody(); PhysicalEnvironment environment = new PhysicalEnvironment(); // Create a View and attach the Canvas3D and the physical // body and environment to the view. view = new View(); view.addCanvas3D(c); view.setPhysicalBody(body); view.setPhysicalEnvironment(environment); // Create a BranchGroup node for the view platform BranchGroup vpRoot = new BranchGroup(); // Create a ViewPlatform object, and its associated // TransformGroup object, and attach it to the root of the // subgraph. Attach the view to the view platform. Transform3D t = new Transform3D(); Transform3D s = new Transform3D(); t.set(new Vector3f(0.0f, 0.0f, 10.0f)); t.rotX(-Math.PI/4); s.set(new Vector3f(0.0f, 0.0f, 10.0f)); //forandre verdier her for å endre viewing position t.mul(s); ViewPlatform vp = new ViewPlatform(); vpTrans = new TransformGroup(t); vpTrans.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); // Rotator stuff Transform3D yAxis = new Transform3D(); //yAxis.rotY(Math.PI/2); Alpha rotationAlpha = new Alpha( -1, Alpha.INCREASING_ENABLE, 0, 0,4000, 0, 0, 0, 0, 0); RotationInterpolator rotator = new RotationInterpolator( rotationAlpha, vpTrans, yAxis, 0.0f, (float) Math.PI*2.0f); RotationInterpolator rotator2 = new RotationInterpolator( rotationAlpha, vpTrans); BoundingSphere bounds = new BoundingSphere(new Point3d(0.0,0.0,0.0), 1000.0); rotator.setSchedulingBounds(bounds); vpTrans.addChild(rotator); vpTrans.addChild(vp); vpRoot.addChild(vpTrans); view.attachViewPlatform(vp); // Attach the branch graph to the universe, via the // Locale. The scene graph is now live! locale.addBranchGraph(vpRoot); } public void addBranchGraph(BranchGroup bg) { locale.addBranchGraph(bg); } }

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  • Trouble rotating viewplatform in Java3D [closed]

    - by user29163
    I have just started with Java3D programming. I thought I had built up some basic intuition about how the scene graph works, but something that should work, does not work. I made a simple program for rotating a pyramid around the y-axis. This was done just by adding a RotationInterpolator R to the TransformGroup above the pyramid. Then I thought hey, can I now remove the RotationInterpolator from this TransformGroup, then add it to the TransformGroup above my ViewPlatform leaf. This should work if I have understood how things work. Adding the RotationInterpolator to this TransformGroup, should make the children of this TransformGroup rotate, and the ViewingPlatform is a child of the TransformGroup. Any ideas on where my reasoning is flawed? Here is the code for setting up the universe, and the view branchgroup. import java.awt.*; import java.awt.event.*; import javax.media.j3d.*; import javax.vecmath.*; public class UniverseBuilder { // User-specified canvas Canvas3D canvas; // Scene graph elements to which the user may want access VirtualUniverse universe; Locale locale; TransformGroup vpTrans; View view; public UniverseBuilder(Canvas3D c) { this.canvas = c; // Establish a virtual universe that has a single // hi-res Locale universe = new VirtualUniverse(); locale = new Locale(universe); // Create a PhysicalBody and PhysicalEnvironment object PhysicalBody body = new PhysicalBody(); PhysicalEnvironment environment = new PhysicalEnvironment(); // Create a View and attach the Canvas3D and the physical // body and environment to the view. view = new View(); view.addCanvas3D(c); view.setPhysicalBody(body); view.setPhysicalEnvironment(environment); // Create a BranchGroup node for the view platform BranchGroup vpRoot = new BranchGroup(); // Create a ViewPlatform object, and its associated // TransformGroup object, and attach it to the root of the // subgraph. Attach the view to the view platform. Transform3D t = new Transform3D(); Transform3D s = new Transform3D(); t.set(new Vector3f(0.0f, 0.0f, 10.0f)); t.rotX(-Math.PI/4); s.set(new Vector3f(0.0f, 0.0f, 10.0f)); //forandre verdier her for å endre viewing position t.mul(s); ViewPlatform vp = new ViewPlatform(); vpTrans = new TransformGroup(t); vpTrans.setCapability(TransformGroup.ALLOW_TRANSFORM_WRITE); // Rotator stuff Transform3D yAxis = new Transform3D(); //yAxis.rotY(Math.PI/2); Alpha rotationAlpha = new Alpha( -1, Alpha.INCREASING_ENABLE, 0, 0,4000, 0, 0, 0, 0, 0); RotationInterpolator rotator = new RotationInterpolator( rotationAlpha, vpTrans, yAxis, 0.0f, (float) Math.PI*2.0f); RotationInterpolator rotator2 = new RotationInterpolator( rotationAlpha, vpTrans); BoundingSphere bounds = new BoundingSphere(new Point3d(0.0,0.0,0.0), 1000.0); rotator.setSchedulingBounds(bounds); vpTrans.addChild(rotator); vpTrans.addChild(vp); vpRoot.addChild(vpTrans); view.attachViewPlatform(vp); // Attach the branch graph to the universe, via the // Locale. The scene graph is now live! locale.addBranchGraph(vpRoot); } public void addBranchGraph(BranchGroup bg) { locale.addBranchGraph(bg); } }

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  • Drawing random smooth lines contained in a square [migrated]

    - by Doug Mercer
    I'm trying to write a matlab function that creates random, smooth trajectories in a square of finite side length. Here is my current attempt at such a procedure: function [] = drawroutes( SideLength, v, t) %DRAWROUTES Summary of this function goes here % Detailed explanation goes here %Some parameters intended to help help keep the particles in the box RandAccel=.01; ConservAccel=0; speedlimit=.1; G=10^(-8); % %Initialize Matrices Ax=zeros(v,10*t); Ay=Ax; vx=Ax; vy=Ax; x=Ax; y=Ax; sx=zeros(v,1); sy=zeros(v,1); % %Define initial position in square x(:,1)=SideLength*.15*ones(v,1)+(SideLength*.7)*rand(v,1); y(:,1)=SideLength*.15*ones(v,1)+(SideLength*.7)*rand(v,1); % for i=2:10*t %Measure minimum particle distance component wise from boundary %for each vehicle BorderGravX=[abs(SideLength*ones(v,1)-x(:,i-1)),abs(x(:,i-1))]'; BorderGravY=[abs(SideLength*ones(v,1)-y(:,i-1)),abs(y(:,i-1))]'; rx=min(BorderGravX)'; ry=min(BorderGravY)'; % %Set the sign of the repulsive force for k=1:v if x(k,i)<.5*SideLength sx(k)=1; else sx(k)=-1; end if y(k,i)<.5*SideLength sy(k)=1; else sy(k)=-1; end end % %Calculate Acceleration w/ random "nudge" and repulive force Ax(:,i)=ConservAccel*Ax(:,i-1)+RandAccel*(rand(v,1)-.5*ones(v,1))+sx*G./rx.^2; Ay(:,i)=ConservAccel*Ay(:,i-1)+RandAccel*(rand(v,1)-.5*ones(v,1))+sy*G./ry.^2; % %Ad hoc method of trying to slow down particles from jumping outside of %feasible region for h=1:v if abs(vx(h,i-1)+Ax(h,i))<speedlimit vx(h,i)=vx(h,i-1)+Ax(h,i); elseif (vx(h,i-1)+Ax(h,i))<-speedlimit vx(h,i)=-speedlimit; else vx(h,i)=speedlimit; end end for h=1:v if abs(vy(h,i-1)+Ay(h,i))<speedlimit vy(h,i)=vy(h,i-1)+Ay(h,i); elseif (vy(h,i-1)+Ay(h,i))<-speedlimit vy(h,i)=-speedlimit; else vy(h,i)=speedlimit; end end % %Update position x(:,i)=x(:,i-1)+(vx(:,i-1)+vx(:,i))/2; y(:,i)=y(:,i-1)+(vy(:,i-1)+vy(:,1))/2; % end %Plot position clf; hold on; axis([-100,SideLength+100,-100,SideLength+100]); cc=hsv(v); for j=1:v plot(x(j,1),y(j,1),'ko') plot(x(j,:),y(j,:),'color',cc(j,:)) end hold off; % end My original plan was to place particles within a square, and move them around by allowing their acceleration in the x and y direction to be governed by a uniformly distributed random variable. To keep the particles within the square, I tried to create a repulsive force that would push the particles away from the boundaries of the square. In practice, the particles tend to leave the desired "feasible" region after a relatively small number of time steps (say, 1000)." I'd love to hear your suggestions on either modifying my existing code or considering the problem from another perspective. When reading the code, please don't feel the need to get hung up on any of the ad hoc parameters at the very beginning of the script. They seem to help, but I don't believe any beside the "G" constant should truly be necessary to make this system work. Here is an example of the current output: Many of the vehicles have found their way outside of the desired square region, [0,400] X [0,400].

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  • Rotating 2D Object

    - by Vico Pelaez
    Well I am trying to learn openGL and want to make a triangle move one unit (0.1) everytime I press one of the keyboard arrows. However i want the triangle to turn first pointing the direction where i will move one unit. So if my triangle is pointing up and I press right the it should point right first and then move one unit in the x axis. I have implemented the code to move the object one unit in any direction, however I can not get it to turn pointing to the direction it is going. The initial position of the Triangle is pointing up. #define LENGTH 0.05 float posX = -0.5, posY = -0.5, posZ = 0; float inX = 0.0 ,inY = 0.0 ,inZ = 0.0; // what values???? void rect(){ glMatrixMode(GL_PROJECTION); glLoadIdentity(); glPushMatrix(); glTranslatef(posX,posY,posZ); glRotatef(rotate, inX, inY, inZ); glBegin(GL_TRIANGLES); glColor3f(0.0, 0.0, 1.0); glVertex2f(-LENGTH,-LENGTH); glVertex2f(LENGTH-LENGTH, LENGTH); glVertex2f(LENGTH, -LENGTH); glEnd(); glPopMatrix(); } void display(){ //Clear Window glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glMatrixMode(GL_MODELVIEW); glLoadIdentity(); rect(); glFlush(); } void init(){ glClearColor(0.0, 0.0, 0.0, 0.0); glColor3f(1.0, 1.0, 1.0); } float move_unit = 0.01; bool change = false; void keyboardown(int key, int x, int y) { switch (key){ case GLUT_KEY_UP: if(rotate = 0) posY += move_unit; else{ inX = 1.0; rotate = 0; } break; case GLUT_KEY_RIGHT: if(rotate = -90) posX += move_unit; else{ inX = 1.0; // is this value ok?? rotate -= 90; } break; case GLUT_KEY_LEFT: if(rotate = 90) posX -= move_unit; else{ inX = 1.0; // is this value ok??? rotate += 90; } break; case GLUT_KEY_DOWN: if(rotate = 180) posY -= move_unit; else{ inX = 1.0; rotate += 180; } break; case 27: // Escape button exit(0); break; default: break; } glutPostRedisplay(); } int main(int argc, char** argv){ glutInit(&argc, argv); glutInitDisplayMode(GLUT_SINGLE | GLUT_RGB); glutInitWindowSize(500,500); glutInitWindowPosition(0, 0); glutCreateWindow("Triangle turn"); glutSpecialFunc(keyboardown); glutDisplayFunc(display); init(); glutMainLoop()

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  • How to place rooms proceduraly (rule based) on in a game word

    - by gardian06
    I am trying to design the algorithm for my level generation which is a rule driven system. I have created all the rules for the system. I have taken care to insure that all rooms make sense in a grid type setup. for example: these rooms could make this configuration The logic flow code that I have so far Door{ Vector3 position; POD orient; // 5 possible values (up is not an option) bool Open; } Room{ String roomRule; Vector3 roomPos; Vector3 dimensions; POD roomOrient; // 4 possible values List doors<Door>; } LevelManager{ float scale = 18f; List usedRooms<Room>; List openDoors<Door> bool Grid[][][]; Room CreateRoom(String rule, Vector3 position, POD Orient){ place recieved values based on rule fill in other data } Vector3 getDimenstions(String rule){ return dimensions of the room } RotateRoom(POD rotateAmount){ rotate all items in the room } MoveRoom(Room toBeMoved, POD orientataion, float distance){ move the position of the room based on inputs } GenerateMap(Vector3 size, Vector3 start, Vector3 end){ Grid = array[size.y][size.x][size.z]; Room floatingRoom; floatingRoom = Room.CreateRoom(S01, start, rand(4)); usedRooms.Add(floatingRoom); for each Door in floatingRoom.doors{ openDoors.Add(door); } // fill used grid spaces floatingRoom = Room.CreateRoom(S02, end, rand(4); usedRooms.Add(floatingRoom); for each Door in floatingRoom.doors{ openDoors.Add(door); } Vector3 nRoomLocation; Door workingDoor; string workingRoom; // fill used grid spaces // pick random door on the openDoors list workingDoor = /*randomDoor*/ // get a random rule nRoomLocation = workingDoor.position; // then I'm lost } } I know that I have to make sure for convergence (namely the end is reachable), and to do this until there are no more doors on the openDoors list. right now I am simply trying to get this to work in 2D (there are rules that introduce 3D), but I am working on a presumption that a rigorous algorithm can be trivially extended to 3D. EDIT: my thought pattern so far is to take an existing open door and then pick a random room (restrictions can be put in later) place that room's center at the doors location move the room in the direction of the doors orientation half the rooms dimension w/respect to that axis then test against the 3D array to see if all the grid points are open, or have been used, or if there is even space to put the room (caseEdge) if caseEdge (which can also occur in between rooms) then put the door on a toBeClosed list, and remove it from the open list (placing a wall or something there). then to do some kind of test that both the start, and the goal are connected, and reachable from each other (each room has nodes for AI, but I don't want to "have" to pull those out to accomplish this). but this logic has the problem for say the U, or L shaped rooms in my example, and then I also have a problem conceptually if the room needs to be rotated.

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  • How to make a stack stable? Need help for an explicit resting contact scheme (2-dimensional)

    - by Register Sole
    Previously, I struggle with the sequential impulse-based method I developed. Thanks to jedediah referring me to this paper, I managed to rebuild the codes and implement the simultaneous impulse based method with Projected-Gauss-Seidel (PGS) iterative solver as described by Erin Catto (mentioned in the reference of the paper as [Catt05]). So here's how it currently is: The simulation handles 2-dimensional rotating convex polygons. Detection is using separating-axis test, with a SKIN, meaning closest points between two polygons is detected and determined if their distance is less than SKIN. To resolve collision, simultaneous impulse-based method is used. It is solved using iterative solver (PGS-solver) as in Erin Catto's paper. Error-correction is implemented using Baumgarte's stabilization (you can refer to either paper for this) using J V = beta/dt*overlap, J is the Jacobian for the constraints, V the matrix containing the velocities of the bodies, beta an error-correction parameter that is better be < 1, dt the time-step taken by the engine, and overlap, the overlap between the bodies (true overlap, so SKIN is ignored). However, it is still less stable than I expected :s I tried to stack hexagons (or squares, doesn't really matter), and even with only 4 to 5 of them, they would swing! Also note that I am not looking for a sleeping scheme. But I would settle if you have any explicit scheme to handle resting contacts. That said, I would be more than happy if you have a way of treating it generally (as continuous collision, instead of explicitly as a special state). Ideas I have tried: Using simultaneous position based error correction as described in the paper in section 5.3.2, turned out to be worse than the current scheme. If you want to know the parameters I used: Hexagons, side 50 (pixels) gravity 2400 (pixels/sec^2) time-step 1/60 (sec) beta 0.1 restitution 0 to 0.2 coeff. of friction 0.2 PGS iteration 10 initial separation 10 (pixels) mass 1 (unit is irrelevant for now, i modified velocity directly<-impulse method) inertia 1/1000 Thanks in advance! I really appreciate any help from you guys!! :) EDIT In response to Cholesky's comment about warm starting the solver and Baumgarte: Oh right, I forgot to mention! I do save the contact history and the impulse determined in this time step to be used as initial guess in the next time step. As for the Baumgarte, here's what actually happens in the code. Collision is detected when the bodies' closest distance is less than SKIN, meaning they are actually still separated. If at this moment, I used the PGS solver without Baumgarte, restitution of 0 alone would be able to stop the bodies, separated by a distance of ~SKIN, in mid-air! So this isn't right, I want to have the bodies touching each other. So I turn on the Baumgarte, where its role is actually to pull the bodies together! Weird I know, a scheme intended to push the body apart becomes useful for the reverse. Also, I found that if I increase the number of iteration to 100, stacks become much more stable, though the program becomes so slow. UPDATE Since the stack swings left and right, could it be something is wrong with my friction model? Current friction constraint: relative_tangential_velocity = 0

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  • Programmatically controlling Chart in Silverlight toolkit

    - by Manoj
    Hi, I want to control the x and y axis of a multi series line charts available in Silverlight toolkit from the C# code. I am not able to find any appropriate example using google. Any kind of example or pointers would be appreciated! EDIT: This is what I have done so far: <toolkit:Chart Canvas.Left="104" Canvas.Top="18" Name="chartCompare" Title="Compare Series" Height="285" Width="892"> <toolkit:LineSeries Title="SP1" Name="Series1"/> </toolkit:Chart> And in the code behind I am trying this: Series1.ItemsSource = ObjectList; Series1.IndependentValuePath = "Val1"; Series1.DependentValuePath = "Val2"; Where ObjectList is a List of Objects which has val1 and val2 as its property. But it is throwing an error when I run this in Line "Series1.ItemsSource = ObjectList;" saying "Object reference not set to an instance of an object..". I have initialised and set its value just in the line before it. Actually I have set this as an item source for a data grid in the line before it and it works fine.

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  • How do you construct an array suitable for numpy sorting?

    - by Alex
    I need to sort two arrays simultaneously, or rather I need to sort one of the arrays and bring the corresponding element of its associated array with it as I sort. That is if the array is [(5, 33), (4, 44), (3, 55)] and I sort by the first axis (labeled below dtype='alpha') then I want: [(3.0, 55.0) (4.0, 44.0) (5.0, 33.0)]. These are really big data sets and I need to sort first ( for nlog(n) speed ) before I do some other operations. I don't know how to merge my two separate arrays though in the proper manner to get the sort algorithm working. I think my problem is rather simple. I tried three different methods: import numpy x=numpy.asarray([5,4,3]) y=numpy.asarray([33,44,55]) dtype=[('alpha',float), ('beta',float)] values=numpy.array([(x),(y)]) values=numpy.rollaxis(values,1) #values = numpy.array(values, dtype=dtype) #a=numpy.array(values,dtype=dtype) #q=numpy.sort(a,order='alpha') print "Try 1:\n", values values=numpy.empty((len(x),2)) for n in range (len(x)): values[n][0]=y[n] values[n][1]=x[n] print "Try 2:\n", values #values = numpy.array(values, dtype=dtype) #a=numpy.array(values,dtype=dtype) #q=numpy.sort(a,order='alpha') ### values = [(x[0], y[0]), (x[1],y[1]) , (x[2],y[2])] print "Try 3:\n", values values = numpy.array(values, dtype=dtype) a=numpy.array(values,dtype=dtype) q=numpy.sort(a,order='alpha') print "Result:\n",q I commented out the first and second trys because they create errors, I knew the third one would work because that was mirroring what I saw when I was RTFM. Given the arrays x and y (which are very large, just examples shown) how do I construct the array (called values) that can be called by numpy.sort properly? *** Zip works great, thanks. Bonus question: How can I later unzip the sorted data into two arrays again?

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  • Preserving Language across inline Calculated Members in SSAS

    - by Tullo
    Problem: I need to retrieve the language of a given cell from the cube. The cell is defined by code-generated MDX, which can have an arbitrary level of indirection as far as calculated members and sets go (defined in the WITH clause). SSAS appears to ignore the Language of the specified members when you declare a calculated member inline in the query. Example: The cube's default locale is 1033 (en-US) The cube contains a Calculated Measure called [Net Pounds] which is defined as [Net Amt], language=2057 (en-GB) The query requests this measure alongside an inline calculated measure which is simply an alias to the [Net Pounds] When used directly, the measure is formatted in the en-GB locale, but when aliased, the measure falls back to using the cube default of en-US. Here's what the query looks like: WITH MEMBER [Measures].[Pounds Indirect] AS [Measures].[Net Pounds] SELECT { [Measures].[Pounds Indirect], [Measures].[Net Pounds] } ON AXIS (0) FROM [Cube] CELL PROPERTIES language, value, formatted_value The query returns the expected two cells, but only uses the [Net Pounds] locale when used directly. Is there an option or switch somewhere in SSAS that will allow locale information to be visible in calculated members? I realise that it is possible to declare the inline calculated member in a particular locale, but this would involve extracting the locale from the tuple first, which (since the cube's member is isolated in the application's query schema) is unknown.

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  • Having a hard time implementing jquery serialScroll to a website. Need help!

    - by Martin Defatte
    Here's the page I am attempting to implement it on. www.yosoh.com/2010/advertising/beyond/ I have a custom script with figures out the width of all the images, adds it up, then sets the width of that page... I'd like to be able to set the arrows at the top to scroll to the next div (div.portfolioImage). I've followed Ariel Fischer's demo and documentation as best I can... but something keeps escaping me. I've finally gotten some "movement" on page load.. but to tell you the truth, I can't figure out if it's my html structure, css styles, or implementation of serialScroll causing the issue. here's the code for the buttons: <ul id="portfolioNav"> <li><a href="" id="prev">&larr;</a></li> <li><a href="" id="next">&rarr;</a></li> </ul> Here's the script, as it is right now: $('#mainContent').css('overflow', 'hidden'); $('#mainContent').serialScroll({ items:'.portfolioItem', prev:'a#prev', next:'a#next', axis: 'x', duration:1200, force:true, stop:true, lock:false, easing:'easeOutQuart', jump: true });

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  • Incorrect rendering in dojox charting stacked column?

    - by FokeyJoe
    Hiya, I seem to be having a problem with my dojo stackedcolumn whereby the scale of some of the bars is correct for some x-axis points, but not others. Here's my code (observe the northern ireland hydro should be 70, but only shows as around 30): dojo.addOnLoad(function() { var chart1 = new dojox.charting.Chart2D("sitesbycountry"); chart1.addPlot("default", {type: "StackedColumns", gap: 10}); chart1.addPlot("horzgrid", {type: "Grid", hMajorLines: true, vMajorLines: false}); chart1.addAxis("x", {labels: [{value: 1, text: 'Northern Ireland'}, {value: 2, text: 'Wales'}, {value: 3, text: 'Scotland'}, {value: 4, text: 'England'}], minorTicks: false, microTicks: false}); chart1.addAxis("y", {vertical: true, minorTicks: false, microTicks: false}); chart1.addSeries("Hydro", [70, 53, 198, 102], {fill: "#ddddff"}); chart1.addSeries("Wind and Wave", [67, 51, 150, 245], {fill: "#FEFFBF"}); chart1.addSeries("Landfill", [1, 23, 40, 0], {fill: "#CFFFD1"}); chart1.addSeries("Other Biofuels and Wastes", [4, 3, 11, 66], {fill: "#DFD2C3"}); chart1.render(); }); Is this a behaviour of the chart that I'm not aware of? TIA FokeyJoe

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  • QT- QImage and multi-threading problem.

    - by umanga
    Greetings all, Please refer to image at : http://i48.tinypic.com/316qb78.jpg We are developing an application to extract cell edges from MRC images from electron microscope. MRC file format stores volumetric pixel data (http://en.wikipedia.org/wiki/Voxel) and we simply use 3D char array(char***) to load and store data (gray scale values) from a MRC file. As shown in the image,there are 3 viewers to display XY,YZ and ZX planes respectively. Scrollbars on the top of the viewers use to change the image slice along an axis. Here is the steps we do when user changes the scrollbar position. 1) get the new scrollbar value.(this is the selected slice) 2) for the relavant plane (YZ,XY or ZX), generate (char* slice;) array for the selected slice by reading 3D char array (char***) 3) Create a new QImage* (Format_RGB888) and set pixel values by reading 'slice' (using img-setPixel(x,y,c);) 4) This new QImage* is painted in the paintEvent() method. We are going to execute "edge-detection" process in a seperate thread since it is an intensive process.During this process we need to draw detected curve (set of pixels) on top of above QImage*.(as a layer).This means we need to call drawPoint() methods outside the QT thread. Is it the best wayto use QImage for this case? What is the best way to execute QT drawing methods from another thread? thanks in advance,

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  • highcharts correct json input

    - by Linus
    i am trying to do a basic column chart. i have looked the examples but not sure why i do not see any graph (lines). I can see the title and subtitle appear an no javascript errors in firebug. any help please $(function () { var chart; $(document).ready(function() { chart = new Highcharts.Chart({ chart: { renderTo: 'container', type: 'column', events: { load: requestData } }, title: { text: 'Some title' }, subtitle: { text: 'subtitle' }, xAxis: { categories: [], title: { text: null } }, yAxis: { min: 0, title: { text: 'y-Axis', align: 'high' } }, tooltip: { formatter: function() { return ''+ this.series.name +': '+ this.y +' '; } }, plotOptions: { bar: { dataLabels: { enabled: true } } }, legend: { layout: 'vertical', align: 'right', verticalAlign: 'top', x: -100, y: 100, floating: true, borderWidth: 1, backgroundColor: '#FFFFFF', shadow: true }, credits: { enabled: false }, series:[] }); }); function requestData() { $.ajax({ url: 'test.json', success: function(data) { options.series[0].push(data); chart.redraw(); }, cache: false }); } }); my json input file is below [ { name: 'name1', y: [32.6,16.6,1.5] }, { name: 'name2', y: [6.7,0.2,0.6] }, { name: 'name3', y: [1,3.7,0.7] }, { name: 'name4', y: [20.3,8.8,9.5] },{ name: 'name5', y: [21.5,10,7.2] }, { name: 'name6', y: [1.4,1.8,3.7] }, { name: 'name7', y: [8.1,0,0] }, { name: 'name8', y: [28.9,8.9,6.6] } ]

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  • cleaning up noise in an edge detection algoritum

    - by Faken
    I recently wrote an extremely basic edge detection algorithm that works on an array of chars. The program was meant to detect the edges of blobs of a single particular value on the array and worked by simply looking left, right, up and down on the array element and checking if one of those values is not the same as the value it was currently looking at. The goal was not to produce a mathematical line but rather a set of ordered points that represented a descritized closed loop edge. The algorithm works perfectly fine, except that my data contained a bit of noise hence would randomly produce edges where there should be no edges. This in turn wreaked havoc on some of my other programs down the line. There is two types of noise that the data contains. The first type is fairly sparse and somewhat random. The second type is a semi continuous straight line on the x=y axis. I know the source of the first type of noise, its a feature of the data and there is nothing i can do about it. As for the second type, i know it's my program's fault for causing it...though i haven't a hot clue exactly what is causing it. My question is: How should I go about removing the noise completely? I know that the correct data has points that are always beside each other and is very compact and ordered (with no gaps) and is a closed loop or multiple loops. The first type of noise is usually sparse and random, that could be easily taken care of by checking if any edges is next that noise point is also counted as an edge. If not, then the point is most defiantly noise and should be removed. However, the second type of noise, where we have a semi continuous line about x=y poses more of a problem. The line is sometimes continuous for random lengths (the longest was it went half way across my entire array unbroken). It is even possible for it to intersect the actual edge. Any ideas on how to do this?

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  • Displaying shifts on a timetable/calendar using C#

    - by Dave Peters
    I am very much a beginner and have experience of SQL and a tiny amount of VBA. What I am looking to do is create a tool to pull shift times from a database and to display them on a timetable/calendar. It will be part of a desktop application that the (very tech illiterate) end users will use to view and amend shift patterns. In essence it will be a grid with days on one axis and people on the other (I would however like to have the blocks proportional to shift length). In my mind it would potentially be a simple Gantt chart. All computing stuff I’ve learnt has been through trial and error and I want to use this project to get a much better understanding of C# as well as to get to the end product. I have been reading around for ways to tackle the problem and my issue is creating the timetable framework to which I will bind the data. I am using Visual Studio 2010 and SQL Server 2008 R2. Do you know of good resources which will either start me on the road to designing my own interface or give a basic framework I can adapt? All the resources I’ve found so far have been in different languages or for web based applications. Thank you for your time.

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  • jquery creating stacked bar chart with flot?

    - by KittyYoung
    I'm using jquery flot and I'm trying to create a stacked bar chart, but I'm having some syntax issues... I'll post my code at the end of this, but I'm quite certain it's wrong. I do get a stacked bar chart, but there's only three columns... Basically, here is the data that I'm working with and what I want to accomplish... The first group (Focus Group 1) on each line is the bottom bar of the stacked bar, the second group (Focus Group 2) is the second, and the third group (Focus Group 3) is the top group. The "Responses" are what I want to use on the x-axis, the first number in each set is x, and the second number is y. Response1, [0, 0], [0,0], [0,9] Response2, [1, 5], [1,5], [1,11] Response3, [2, 2], [2,0], [2,8] Response4, [3, 1], [3,2], [3,6] Response5, [4, 0], [4,0], [4,7] I should also mention, that I'm not sure if a stacked chart is the best way to go... Admittedly, I'm not a very visual person, and generally find charts annoying... If there's a better way to present this data, then I am so totally open to suggestions... Essentially... I have a series of questions. Each of these questions were presented to three focus groups. Members of the focus groups selected a response. I'm trying to present the count per response, per focus group, for each question. I thought that a stacked chart would be the best way to go, but again, I'm open to other ways of doing this. The only thing is, I definitely need a visual representation of the data....

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  • how to export bind and keyframe bone poses from blender to use in OpenGL

    - by SaldaVonSchwartz
    EDIT: I decided to reformulate the question in much simpler terms to see if someone can give me a hand with this. Basically, I'm exporting meshes, skeletons and actions from blender into an engine of sorts that I'm working on. But I'm getting the animations wrong. I can tell the basic motion paths are being followed but there's always an axis of translation or rotation which is wrong. I think the problem is most likely not in my engine code (OpenGL-based) but rather in either my misunderstanding of some part of the theory behind skeletal animation / skinning or the way I am exporting the appropriate joint matrices from blender in my exporter script. I'll explain the theory, the engine animation system and my blender export script, hoping someone might catch the error in either or all of these. The theory: (I'm using column-major ordering since that's what I use in the engine cause it's OpenGL-based) Assume I have a mesh made up of a single vertex v, along with a transformation matrix M which takes the vertex v from the mesh's local space to world space. That is, if I was to render the mesh without a skeleton, the final position would be gl_Position = ProjectionMatrix * M * v. Now assume I have a skeleton with a single joint j in bind / rest pose. j is actually another matrix. A transform from j's local space to its parent space which I'll denote Bj. if j was part of a joint hierarchy in the skeleton, Bj would take from j space to j-1 space (that is to its parent space). However, in this example j is the only joint, so Bj takes from j space to world space, like M does for v. Now further assume I have a a set of frames, each with a second transform Cj, which works the same as Bj only that for a different, arbitrary spatial configuration of join j. Cj still takes vertices from j space to world space but j is rotated and/or translated and/or scaled. Given the above, in order to skin vertex v at keyframe n. I need to: take v from world space to joint j space modify j (while v stays fixed in j space and is thus taken along in the transformation) take v back from the modified j space to world space So the mathematical implementation of the above would be: v' = Cj * Bj^-1 * v. Actually, I have one doubt here.. I said the mesh to which v belongs has a transform M which takes from model space to world space. And I've also read in a couple textbooks that it needs to be transformed from model space to joint space. But I also said in 1 that v needs to be transformed from world to joint space. So basically I'm not sure if I need to do v' = Cj * Bj^-1 * v or v' = Cj * Bj^-1 * M * v. Right now my implementation multiples v' by M and not v. But I've tried changing this and it just screws things up in a different way cause there's something else wrong. Finally, If we wanted to skin a vertex to a joint j1 which in turn is a child of a joint j0, Bj1 would be Bj0 * Bj1 and Cj1 would be Cj0 * Cj1. But Since skinning is defined as v' = Cj * Bj^-1 * v , Bj1^-1 would be the reverse concatenation of the inverses making up the original product. That is, v' = Cj0 * Cj1 * Bj1^-1 * Bj0^-1 * v Now on to the implementation (Blender side): Assume the following mesh made up of 1 cube, whose vertices are bound to a single joint in a single-joint skeleton: Assume also there's a 60-frame, 3-keyframe animation at 60 fps. The animation essentially is: keyframe 0: the joint is in bind / rest pose (the way you see it in the image). keyframe 30: the joint translates up (+z in blender) some amount and at the same time rotates pi/4 rad clockwise. keyframe 59: the joint goes back to the same configuration it was in keyframe 0. My first source of confusion on the blender side is its coordinate system (as opposed to OpenGL's default) and the different matrices accessible through the python api. Right now, this is what my export script does about translating blender's coordinate system to OpenGL's standard system: # World transform: Blender -> OpenGL worldTransform = Matrix().Identity(4) worldTransform *= Matrix.Scale(-1, 4, (0,0,1)) worldTransform *= Matrix.Rotation(radians(90), 4, "X") # Mesh (local) transform matrix file.write('Mesh Transform:\n') localTransform = mesh.matrix_local.copy() localTransform = worldTransform * localTransform for col in localTransform.col: file.write('{:9f} {:9f} {:9f} {:9f}\n'.format(col[0], col[1], col[2], col[3])) file.write('\n') So if you will, my "world" matrix is basically the act of changing blenders coordinate system to the default GL one with +y up, +x right and -z into the viewing volume. Then I also premultiply (in the sense that it's done by the time we reach the engine, not in the sense of post or pre in terms of matrix multiplication order) the mesh matrix M so that I don't need to multiply it again once per draw call in the engine. About the possible matrices to extract from Blender joints (bones in Blender parlance), I'm doing the following: For joint bind poses: def DFSJointTraversal(file, skeleton, jointList): for joint in jointList: bindPoseJoint = skeleton.data.bones[joint.name] bindPoseTransform = bindPoseJoint.matrix_local.inverted() file.write('Joint ' + joint.name + ' Transform {\n') translationV = bindPoseTransform.to_translation() rotationQ = bindPoseTransform.to_3x3().to_quaternion() scaleV = bindPoseTransform.to_scale() file.write('T {:9f} {:9f} {:9f}\n'.format(translationV[0], translationV[1], translationV[2])) file.write('Q {:9f} {:9f} {:9f} {:9f}\n'.format(rotationQ[1], rotationQ[2], rotationQ[3], rotationQ[0])) file.write('S {:9f} {:9f} {:9f}\n'.format(scaleV[0], scaleV[1], scaleV[2])) DFSJointTraversal(file, skeleton, joint.children) file.write('}\n') Note that I'm actually grabbing the inverse of what I think is the bind pose transform Bj. This is so I don't need to invert it in the engine. Also note I went for matrix_local, assuming this is Bj. The other option is plain "matrix", which as far as I can tell is the same only that not homogeneous. For joint current / keyframe poses: for kfIndex in keyframes: bpy.context.scene.frame_set(kfIndex) file.write('keyframe: {:d}\n'.format(int(kfIndex))) for i in range(0, len(skeleton.data.bones)): file.write('joint: {:d}\n'.format(i)) currentPoseJoint = skeleton.pose.bones[i] currentPoseTransform = currentPoseJoint.matrix translationV = currentPoseTransform.to_translation() rotationQ = currentPoseTransform.to_3x3().to_quaternion() scaleV = currentPoseTransform.to_scale() file.write('T {:9f} {:9f} {:9f}\n'.format(translationV[0], translationV[1], translationV[2])) file.write('Q {:9f} {:9f} {:9f} {:9f}\n'.format(rotationQ[1], rotationQ[2], rotationQ[3], rotationQ[0])) file.write('S {:9f} {:9f} {:9f}\n'.format(scaleV[0], scaleV[1], scaleV[2])) file.write('\n') Note that here I go for skeleton.pose.bones instead of data.bones and that I have a choice of 3 matrices: matrix, matrix_basis and matrix_channel. From the descriptions in the python API docs I'm not super clear which one I should choose, though I think it's the plain matrix. Also note I do not invert the matrix in this case. The implementation (Engine / OpenGL side): My animation subsystem does the following on each update (I'm omitting parts of the update loop where it's figured out which objects need update and time is hardcoded here for simplicity): static double time = 0; time = fmod((time + elapsedTime),1.); uint16_t LERPKeyframeNumber = 60 * time; uint16_t lkeyframeNumber = 0; uint16_t lkeyframeIndex = 0; uint16_t rkeyframeNumber = 0; uint16_t rkeyframeIndex = 0; for (int i = 0; i < aClip.keyframesCount; i++) { uint16_t keyframeNumber = aClip.keyframes[i].number; if (keyframeNumber <= LERPKeyframeNumber) { lkeyframeIndex = i; lkeyframeNumber = keyframeNumber; } else { rkeyframeIndex = i; rkeyframeNumber = keyframeNumber; break; } } double lTime = lkeyframeNumber / 60.; double rTime = rkeyframeNumber / 60.; double blendFactor = (time - lTime) / (rTime - lTime); GLKMatrix4 bindPosePalette[aSkeleton.jointsCount]; GLKMatrix4 currentPosePalette[aSkeleton.jointsCount]; for (int i = 0; i < aSkeleton.jointsCount; i++) { F3DETQSType& lPose = aClip.keyframes[lkeyframeIndex].skeletonPose.joints[i]; F3DETQSType& rPose = aClip.keyframes[rkeyframeIndex].skeletonPose.joints[i]; GLKVector3 LERPTranslation = GLKVector3Lerp(lPose.t, rPose.t, blendFactor); GLKQuaternion SLERPRotation = GLKQuaternionSlerp(lPose.q, rPose.q, blendFactor); GLKVector3 LERPScaling = GLKVector3Lerp(lPose.s, rPose.s, blendFactor); GLKMatrix4 currentTransform = GLKMatrix4MakeWithQuaternion(SLERPRotation); currentTransform = GLKMatrix4TranslateWithVector3(currentTransform, LERPTranslation); currentTransform = GLKMatrix4ScaleWithVector3(currentTransform, LERPScaling); GLKMatrix4 inverseBindTransform = GLKMatrix4MakeWithQuaternion(aSkeleton.joints[i].inverseBindTransform.q); inverseBindTransform = GLKMatrix4TranslateWithVector3(inverseBindTransform, aSkeleton.joints[i].inverseBindTransform.t); inverseBindTransform = GLKMatrix4ScaleWithVector3(inverseBindTransform, aSkeleton.joints[i].inverseBindTransform.s); if (aSkeleton.joints[i].parentIndex == -1) { bindPosePalette[i] = inverseBindTransform; currentPosePalette[i] = currentTransform; } else { bindPosePalette[i] = GLKMatrix4Multiply(inverseBindTransform, bindPosePalette[aSkeleton.joints[i].parentIndex]); currentPosePalette[i] = GLKMatrix4Multiply(currentPosePalette[aSkeleton.joints[i].parentIndex], currentTransform); } aSkeleton.skinningPalette[i] = GLKMatrix4Multiply(currentPosePalette[i], bindPosePalette[i]); } Finally, this is my vertex shader: #version 100 uniform mat4 modelMatrix; uniform mat3 normalMatrix; uniform mat4 projectionMatrix; uniform mat4 skinningPalette[6]; uniform lowp float skinningEnabled; attribute vec4 position; attribute vec3 normal; attribute vec2 tCoordinates; attribute vec4 jointsWeights; attribute vec4 jointsIndices; varying highp vec2 tCoordinatesVarying; varying highp float lIntensity; void main() { tCoordinatesVarying = tCoordinates; vec4 skinnedVertexPosition = vec4(0.); for (int i = 0; i < 4; i++) { skinnedVertexPosition += jointsWeights[i] * skinningPalette[int(jointsIndices[i])] * position; } vec4 skinnedNormal = vec4(0.); for (int i = 0; i < 4; i++) { skinnedNormal += jointsWeights[i] * skinningPalette[int(jointsIndices[i])] * vec4(normal, 0.); } vec4 finalPosition = mix(position, skinnedVertexPosition, skinningEnabled); vec4 finalNormal = mix(vec4(normal, 0.), skinnedNormal, skinningEnabled); vec3 eyeNormal = normalize(normalMatrix * finalNormal.xyz); vec3 lightPosition = vec3(0., 0., 2.); lIntensity = max(0.0, dot(eyeNormal, normalize(lightPosition))); gl_Position = projectionMatrix * modelMatrix * finalPosition; } The result is that the animation displays wrong in terms of orientation. That is, instead of bobbing up and down it bobs in and out (along what I think is the Z axis according to my transform in the export clip). And the rotation angle is counterclockwise instead of clockwise. If I try with a more than one joint, then it's almost as if the second joint rotates in it's own different coordinate space and does not follow 100% its parent's transform. Which I assume it should from my animation subsystem which I assume in turn follows the theory I explained for the case of more than one joint. Any thoughts?

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  • OpenCV: Shift/Align face image relative to reference Image (Image Registration)

    - by Abhischek
    I am new to OpenCV2 and working on a project in emotion recognition and would like to align a facial image in relation to a reference facial image. I would like to get the image translation working before moving to rotation. Current idea is to run a search within a limited range on both x and y coordinates and use the sum of squared differences as error metric to select the optimal x/y parameters to align the image. I'm using the OpenCV face_cascade function to detect the face images, all images are resized to a fixed (128x128). Question: Which parameters of the Mat image do I need to modify to shift the image in a positive/negative direction on both x and y axis? I believe setImageROI is no longer supported by Mat datatypes? I have the ROIs for both faces available however I am unsure how to use them. void alignImage(vector<Rect> faceROIstore, vector<Mat> faceIMGstore) { Mat refimg = faceIMGstore[1]; //reference image Mat dispimg = faceIMGstore[52]; // "displaced" version of reference image //Rect refROI = faceROIstore[1]; //Bounding box for face in reference image //Rect dispROI = faceROIstore[52]; //Bounding box for face in displaced image Mat aligned; matchTemplate(dispimg, refimg, aligned, CV_TM_SQDIFF_NORMED); imshow("Aligned image", aligned); } The idea for this approach is based on Image Alignment Tutorial by Richard Szeliski Working on Windows with OpenCV 2.4. Any suggestions are much appreciated.

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  • Certain transformations in Open Inventor(Coin3D)

    - by Marc
    Hi, I am quite new to Open Inventor(Coin3D) and have the following problem: I have a SoSelection holding a root node(also SoSeparator). And the root node holds a number of SoSeparator nodes. Each of these SoSeparator nodes holds a SoTransform node and a SoCube node. When I select one cube node I want all other cubes within a certain distance to the selected cube to arrange in a circle arround the selected cube. (Moreover all of the cubes should be on a plane than) An additional information: My cubes are always oriented in the camera direction with (cubeTransform_-rotation.connectFrom(&camera_-orientation) Assuming the selected cube is the center of the circle, how do I translate the other cubes in a circle on a plane(perpendicular to the vector between the selected cube and the camera)? Especially how do I find coordinates on the plain on which the circle should be which have a certain distance from the Axis (from center cube to camera). What I already did is to search for the for all cubes within a certain distance as soon as one cube is selected. As a result I already have the required separators (which are holding the according SoTransforms and SoCubes) in a SoPathList. Now I want to arrange the cubes by modifing the according SoTransform-translation values. Regards Mark

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  • how to handle an asymptote/discontinuity with Matplotlib

    - by Geddes
    Hello all. Firstly - thanks again for all your help. Sorry not to have accepted the responses to my previous questions as I did not know how the system worked (thanks to Mark for pointing that out!). I have since been back and gratefully acknowledged the kind help I have received. My question: when plotting a graph with a discontinuity/asymptote/singularity/whatever, is there any automatic way to prevent Matplotlib from 'joining the dots' across the 'break'? (please see code/image below). I read that Sage has a [detect_poles] facility that looked good, but I really want it to work with Matplotlib. Thanks and best wishes, Geddes import matplotlib.pyplot as plt import numpy as np from sympy import sympify, lambdify from sympy.abc import x fig = plt.figure(1) ax = fig.add_subplot(111) # set up axis ax.spines['left'].set_position('zero') ax.spines['right'].set_color('none') ax.spines['bottom'].set_position('zero') ax.spines['top'].set_color('none') ax.xaxis.set_ticks_position('bottom') ax.yaxis.set_ticks_position('left') # setup x and y ranges and precision xx = np.arange(-0.5,5.5,0.01) # draw my curve myfunction=sympify(1/(x-2)) mylambdifiedfunction=lambdify(x,myfunction,'numpy') ax.plot(xx, mylambdifiedfunction(xx),zorder=100,linewidth=3,color='red') #set bounds ax.set_xbound(-1,6) ax.set_ybound(-4,4) plt.show()

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  • Google Radar Chart: Not plotting data

    - by Hallik
    Hi. I have different types of data that I have normalized just with base10, so everything is on a 10 point scale. There are two data points, and the legend for them show up fine. All the points around the radar show up fine and so do the labels for them, but I don't see any filled in data. Outside of the labels and axis, the chart is blank. Below is the actual image tag I render, then I split up the variables on each line for easy readability. Anyone mind telling me why it isn't working? <img src="http://chart.apis.google.com/chart?cht=rs&amp;chm=B,3366CC60,0,1.0,5.0|B,CC4D3360,1,1.0,5.0&chs=600x500&chd=t:4.6756775443385,4.7031365524912,1.8646655408171,1.8358167047079,4.2483837215455,4.1367786166752,|5.0319252700625,5.0370797208146,1.8415340693163,1.8591105937857,4.3392150450337,4.1434876641017&chco=3366CC,CC4D33&chls=2.0,4.0,0.0|2.0,4.0,0.0&chxt=x&chxl=0:|Label1|Label2|label3|Label4|Label5|Label6&chxr=0,0.0,10.0&chdl=Data Object 1|Data Object 2&"/> cht=rs& chm=B,3366CC60,0,1.0,5.0|B,CC4D3360,1,1.0,5.0& chs=600x500& chd=t:4.6756775443385,4.7031365524912,1.8646655408171,1.8358167047079,4.2483837215455,4.1367786166752,|5.0319252700625,5.0370797208146,1.8415340693163,1.8591105937857,4.3392150450337,4.1434876641017& chco=3366CC,CC4D33& chls=2.0,4.0,0.0|2.0,4.0,0.0& chxt=x& chxl=0:|Label1|Label2|label3|Label4|Label5|Label6& chxr=0,0.0,10.0& chdl=Data Object 1|Data Object 2& This is the radar chart page, I can't tell what I am doing wrong. http://code.google.com/apis/chart/docs/gallery/radar_charts.html

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  • Why do I get Detached Entity exception when upgrading Spring Boot 1.1.4 to 1.1.5

    - by mmeany
    On updating Spring Boot from 1.1.4 to 1.1.5 a simple web application started generating detached entity exceptions. Specifically, a post authentication inteceptor that bumped number of visits was causing the problem. A quick check of loaded dependencies showed that Spring Data has been updated from 1.6.1 to 1.6.2 and a further check of the change log shows a couple of issues relating to optimistic locking, version fields and JPA issues that have been fixed. Well I am using a version field and it starts out as Null following recommendation to not set in the specification. I have produced a very simple test scenario where I get detached entity exceptions if the version field starts as null or zero. If I create an entity with version 1 however then I do not get these exceptions. Is this expected behaviour or is there still something amiss? Below is the test scenario I have for this condition. In the scenario the service layer that has been annotated @Transactional. Each test case makes multiple calls to the service layer - the tests are working with detached entities as this is the scenario I am working with in the full blown application. The test case comprises four tests: Test 1 - versionNullCausesAnExceptionOnUpdate() In this test the version field in the detached object is Null. This is how I would usually create the object prior to passing to the service. This test fails with a Detached Entity exception. I would have expected this test to pass. If there is a flaw in the test then the rest of the scenario is probably moot. Test 2 - versionZeroCausesExceptionOnUpdate() In this test I have set the version to value Long(0L). This is an edge case test and included because I found reference to Zero values being used for version field in the Spring Data change log. This test fails with a Detached Entity exception. Of interest simply because the following two tests pass leaving this as an anomaly. Test 3 - versionOneDoesNotCausesExceptionOnUpdate() In this test the version field is set to value Long(1L). Not something I would usually do, but considering the notes in the Spring Data change log I decided to give it a go. This test passes. Would not usually set the version field, but this looks like a work-around until I figure out why the first test is failing. Test 4 - versionOneDoesNotCausesExceptionWithMultipleUpdates() Encouraged by the result of test 3 I pushed the scenario a step further and perform multiple updates on the entity that started life with a version of Long(1L). This test passes. Reinforcement that this may be a useable work-around. The entity: package com.mvmlabs.domain; import javax.persistence.Column; import javax.persistence.Entity; import javax.persistence.GeneratedValue; import javax.persistence.GenerationType; import javax.persistence.Id; import javax.persistence.Table; import javax.persistence.Version; @Entity @Table(name="user_details") public class User { @Id @GeneratedValue(strategy=GenerationType.AUTO) private Long id; @Version private Long version; @Column(nullable = false, unique = true) private String username; @Column(nullable = false) private Integer numberOfVisits; public Long getId() { return id; } public void setId(Long id) { this.id = id; } public Long getVersion() { return version; } public void setVersion(Long version) { this.version = version; } public Integer getNumberOfVisits() { return numberOfVisits == null ? 0 : numberOfVisits; } public void setNumberOfVisits(Integer numberOfVisits) { this.numberOfVisits = numberOfVisits; } public String getUsername() { return username; } public void setUsername(String username) { this.username = username; } } The repository: package com.mvmlabs.dao; import org.springframework.data.repository.CrudRepository; import com.mvmlabs.domain.User; public interface UserDao extends CrudRepository<User, Long>{ } The service interface: package com.mvmlabs.service; import com.mvmlabs.domain.User; public interface UserService { User save(User user); User loadUser(Long id); User registerVisit(User user); } The service implementation: package com.mvmlabs.service; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Propagation; import org.springframework.transaction.annotation.Transactional; import org.springframework.transaction.support.TransactionSynchronizationManager; import com.mvmlabs.dao.UserDao; import com.mvmlabs.domain.User; @Service @Transactional(propagation=Propagation.REQUIRED, readOnly=false) public class UserServiceJpaImpl implements UserService { @Autowired private UserDao userDao; @Transactional(readOnly=true) @Override public User loadUser(Long id) { return userDao.findOne(id); } @Override public User registerVisit(User user) { user.setNumberOfVisits(user.getNumberOfVisits() + 1); return userDao.save(user); } @Override public User save(User user) { return userDao.save(user); } } The application class: package com.mvmlabs; import org.springframework.boot.SpringApplication; import org.springframework.boot.autoconfigure.EnableAutoConfiguration; import org.springframework.context.annotation.ComponentScan; import org.springframework.context.annotation.Configuration; @Configuration @ComponentScan @EnableAutoConfiguration public class Application { public static void main(String[] args) { SpringApplication.run(Application.class, args); } } The POM: <?xml version="1.0" encoding="UTF-8"?> <project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd"> <modelVersion>4.0.0</modelVersion> <groupId>com.mvmlabs</groupId> <artifactId>jpa-issue</artifactId> <version>0.0.1-SNAPSHOT</version> <packaging>jar</packaging> <name>spring-boot-jpa-issue</name> <description>JPA Issue between spring boot 1.1.4 and 1.1.5</description> <parent> <groupId>org.springframework.boot</groupId> <artifactId>spring-boot-starter-parent</artifactId> <version>1.1.5.RELEASE</version> <relativePath /> <!-- lookup parent from repository --> </parent> <dependencies> <dependency> <groupId>org.springframework.boot</groupId> <artifactId>spring-boot-starter-data-jpa</artifactId> </dependency> <dependency> <groupId>org.hsqldb</groupId> <artifactId>hsqldb</artifactId> <scope>runtime</scope> </dependency> <dependency> <groupId>org.springframework.boot</groupId> <artifactId>spring-boot-starter-test</artifactId> <scope>test</scope> </dependency> </dependencies> <properties> <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding> <start-class>com.mvmlabs.Application</start-class> <java.version>1.7</java.version> </properties> <build> <plugins> <plugin> <groupId>org.springframework.boot</groupId> <artifactId>spring-boot-maven-plugin</artifactId> </plugin> </plugins> </build> </project> The application properties: spring.jpa.hibernate.ddl-auto: create spring.jpa.hibernate.naming_strategy: org.hibernate.cfg.ImprovedNamingStrategy spring.jpa.database: HSQL spring.jpa.show-sql: true spring.datasource.url=jdbc:hsqldb:file:./target/testdb spring.datasource.username=sa spring.datasource.password= spring.datasource.driverClassName=org.hsqldb.jdbcDriver The test case: package com.mvmlabs; import org.junit.Assert; import org.junit.Test; import org.junit.runner.RunWith; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.boot.test.SpringApplicationConfiguration; import org.springframework.test.context.junit4.SpringJUnit4ClassRunner; import com.mvmlabs.domain.User; import com.mvmlabs.service.UserService; @RunWith(SpringJUnit4ClassRunner.class) @SpringApplicationConfiguration(classes = Application.class) public class ApplicationTests { @Autowired UserService userService; @Test public void versionNullCausesAnExceptionOnUpdate() throws Exception { User user = new User(); user.setUsername("Version Null"); user.setNumberOfVisits(0); user.setVersion(null); user = userService.save(user); user = userService.registerVisit(user); Assert.assertEquals(new Integer(1), user.getNumberOfVisits()); Assert.assertEquals(new Long(1L), user.getVersion()); } @Test public void versionZeroCausesExceptionOnUpdate() throws Exception { User user = new User(); user.setUsername("Version Zero"); user.setNumberOfVisits(0); user.setVersion(0L); user = userService.save(user); user = userService.registerVisit(user); Assert.assertEquals(new Integer(1), user.getNumberOfVisits()); Assert.assertEquals(new Long(1L), user.getVersion()); } @Test public void versionOneDoesNotCausesExceptionOnUpdate() throws Exception { User user = new User(); user.setUsername("Version One"); user.setNumberOfVisits(0); user.setVersion(1L); user = userService.save(user); user = userService.registerVisit(user); Assert.assertEquals(new Integer(1), user.getNumberOfVisits()); Assert.assertEquals(new Long(2L), user.getVersion()); } @Test public void versionOneDoesNotCausesExceptionWithMultipleUpdates() throws Exception { User user = new User(); user.setUsername("Version One Multiple"); user.setNumberOfVisits(0); user.setVersion(1L); user = userService.save(user); user = userService.registerVisit(user); user = userService.registerVisit(user); user = userService.registerVisit(user); Assert.assertEquals(new Integer(3), user.getNumberOfVisits()); Assert.assertEquals(new Long(4L), user.getVersion()); } } The first two tests fail with detached entity exception. The last two tests pass as expected. Now change Spring Boot version to 1.1.4 and rerun, all tests pass. Are my expectations wrong? Edit: This code saved to GitHub at https://github.com/mmeany/spring-boot-detached-entity-issue

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