From: Francois Fleuret Date: Fri, 7 Oct 2016 10:03:24 +0000 (+0200) Subject: Initial commit X-Git-Url: https://www.fleuret.org/cgi-bin/gitweb/gitweb.cgi?p=dyncnn.git;a=commitdiff_plain;h=8e60c68637e79580cdefa53edf79a4804849997d Initial commit --- 8e60c68637e79580cdefa53edf79a4804849997d diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..304f403 --- /dev/null +++ b/Makefile @@ -0,0 +1,51 @@ + +# dyncnn is a deep-learning algorithm for the prediction of +# interacting object dynamics +# +# Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ +# Written by Francois Fleuret +# +# This file is part of dyncnn. +# +# dyncnn is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License version 3 as +# published by the Free Software Foundation. +# +# dyncnn is distributed in the hope that it will be useful, but +# WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with dyncnn. If not, see . + +ifeq ($(DEBUG),yes) + CXXFLAGS = -fPIC -Wall -g -DDEBUG +else + CXXFLAGS = -fPIC -Wall -g -O3 +endif + +LDFLAGS = -lz -ldl + +CXXFLAGS += -I/usr/include/cairo -DCAIRO_SUPPORT + +LDFLAGS += -lcairo + +all: flatland TAGS + +TAGS: *.cc *.h + etags *.cc *.h + +flatland: flatland.o misc.o \ + universe.o \ + polygon.o \ + canvas.o canvas_cairo.o + $(CXX) $(CXXFLAGS) $(LDFLAGS) -lX11 -o $@ $^ + +Makefile.depend: *.h *.cc Makefile + $(CC) $(CXXFLAGS) -M *.cc > Makefile.depend + +clean: + \rm -f flatland *.o *.so Makefile.depend + +-include Makefile.depend diff --git a/canvas.cc b/canvas.cc new file mode 100644 index 0000000..358bd7e --- /dev/null +++ b/canvas.cc @@ -0,0 +1,25 @@ + +/* + * dyncnn is a deep-learning algorithm for the prediction of + * interacting object dynamics + * + * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ + * Written by Francois Fleuret + * + * This file is part of dyncnn. + * + * dyncnn is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 3 as + * published by the Free Software Foundation. + * + * dyncnn is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with dyncnn. If not, see . + * + */ + +#include "canvas.h" diff --git a/canvas.h b/canvas.h new file mode 100644 index 0000000..f54f6d0 --- /dev/null +++ b/canvas.h @@ -0,0 +1,37 @@ + +/* + * dyncnn is a deep-learning algorithm for the prediction of + * interacting object dynamics + * + * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ + * Written by Francois Fleuret + * + * This file is part of dyncnn. + * + * dyncnn is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 3 as + * published by the Free Software Foundation. + * + * dyncnn is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with dyncnn. If not, see . + * + */ + +#ifndef CANVAS_H +#define CANVAS_H + +#include "misc.h" + +class Canvas { +public: + virtual void set_line_width(scalar_t w) = 0; + virtual void set_drawing_color(scalar_t r, scalar_t g, scalar_t b) = 0; + virtual void draw_polygon(int filled, int nb, scalar_t *x, scalar_t *y) = 0; +}; + +#endif diff --git a/canvas_cairo.cc b/canvas_cairo.cc new file mode 100644 index 0000000..ec26f60 --- /dev/null +++ b/canvas_cairo.cc @@ -0,0 +1,91 @@ + +/* + * dyncnn is a deep-learning algorithm for the prediction of + * interacting object dynamics + * + * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ + * Written by Francois Fleuret + * + * This file is part of dyncnn. + * + * dyncnn is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 3 as + * published by the Free Software Foundation. + * + * dyncnn is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with dyncnn. If not, see . + * + */ + +#include "canvas_cairo.h" + +CanvasCairo::CanvasCairo(scalar_t scale, int width, int height) { + const int actual_width = int(width * scale); + const int actual_height = int(height * scale); + const int depth = 4; + + _data = new unsigned char [actual_width * actual_height * depth]; + + _image = cairo_image_surface_create_for_data(_data, + CAIRO_FORMAT_RGB24, + actual_width, + actual_height, + actual_width * depth); + + _context_resource = cairo_create(_image); + + cairo_scale(_context_resource, scale, scale); + + cairo_set_source_rgb(_context_resource, 1.0, 1.0, 1.0); + cairo_set_line_width (_context_resource, 1.0); + + cairo_rectangle(_context_resource, 0, 0, width, height); + + cairo_fill(_context_resource); +} + +CanvasCairo::~CanvasCairo() { + cairo_destroy(_context_resource); + cairo_surface_destroy(_image); + delete[] _data; +} + + +void CanvasCairo::set_line_width(scalar_t w) { + cairo_set_line_width (_context_resource, w); +} + +void CanvasCairo::set_drawing_color(scalar_t r, scalar_t g, scalar_t b) { + cairo_set_source_rgb(_context_resource, r, g, b); +} + +void CanvasCairo::draw_polygon(int filled, int nb, scalar_t *x, scalar_t *y) { + cairo_move_to(_context_resource, x[0], y[0]); + for(int n = 0; n < nb; n++) { + cairo_line_to(_context_resource, x[n], y[n]); + } + cairo_close_path(_context_resource); + + if(filled) { + cairo_stroke_preserve(_context_resource); + cairo_fill(_context_resource); + } else { + cairo_stroke(_context_resource); + } +} + +static cairo_status_t write_cairo_to_file(void *closure, + const unsigned char *data, + unsigned int length) { + fwrite(data, 1, length, (FILE *) closure); + return CAIRO_STATUS_SUCCESS; +} + +void CanvasCairo::write_png(FILE *file) { + cairo_surface_write_to_png_stream(_image, write_cairo_to_file, file); +} diff --git a/canvas_cairo.h b/canvas_cairo.h new file mode 100644 index 0000000..3b8f06b --- /dev/null +++ b/canvas_cairo.h @@ -0,0 +1,48 @@ + +/* + * dyncnn is a deep-learning algorithm for the prediction of + * interacting object dynamics + * + * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ + * Written by Francois Fleuret + * + * This file is part of dyncnn. + * + * dyncnn is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 3 as + * published by the Free Software Foundation. + * + * dyncnn is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with dyncnn. If not, see . + * + */ + +#ifndef CANVAS_CAIRO_H +#define CANVAS_CAIRO_H + +#include "canvas.h" + +#include +#include + +class CanvasCairo : public Canvas { + unsigned char *_data; + cairo_surface_t *_image; + cairo_t *_context_resource; + +public: + CanvasCairo(scalar_t scale, int width, int height); + ~CanvasCairo(); + + virtual void set_line_width(scalar_t w); + virtual void set_drawing_color(scalar_t r, scalar_t g, scalar_t b); + virtual void draw_polygon(int filled, int nb, scalar_t *x, scalar_t *y); + virtual void write_png(FILE *file); +}; + +#endif diff --git a/flatland.cc b/flatland.cc new file mode 100644 index 0000000..c27bd97 --- /dev/null +++ b/flatland.cc @@ -0,0 +1,283 @@ + +/* + * dyncnn is a deep-learning algorithm for the prediction of + * interacting object dynamics + * + * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ + * Written by Francois Fleuret + * + * This file is part of dyncnn. + * + * dyncnn is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 3 as + * published by the Free Software Foundation. + * + * dyncnn is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with dyncnn. If not, see . + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace std; + +#include "misc.h" +#include "universe.h" +#include "canvas_cairo.h" + +void generate_png(Universe *universe, scalar_t scale, FILE *file) { + CanvasCairo canvas(scale, universe->width(), universe->height()); + canvas.set_line_width(1.0 / scale); + universe->draw(&canvas); + canvas.write_png(file); +} + +FILE *safe_fopen(const char *name, const char *mode) { + FILE *file = fopen(name, mode); + if(!file) { + cerr << "Cannot open " << name << endl; + exit(1); + } + return file; +} + +void print_help(const char *command) { + cerr << command << " [--dir ] [--seed ]]" << endl; + exit(1); +} + +int main(int argc, char **argv) { + const scalar_t world_width = 400; + const scalar_t world_height = 400; + const scalar_t block_size = 80; + + const scalar_t dt = 0.1; + const int nb_iterations_per_steps = 20; + + ////////////////////////////////////////////////////////////////////// + + // We will generate images { 0, every_nth, 2 * every_nth, ..., nb_frames - 1 } + + // The framerate every_nth may be set to smaller value to generate + // nice materials for presentations or papers. + + int every_nth = 4; + + int nb_frames = 5; + + int multi_grasp = 0; + int nb_shapes = 1; + char data_dir[1024] = "/tmp/"; + + ////////////////////////////////////////////////////////////////////// + + Universe *universe; + Polygon *grabbed_polygon; + + if(argc < 2) { + print_help(argv[0]); + } + + int nb_sequences = atoi(argv[1]); + + int i = 2; + while(i < argc) { + if(strcmp(argv[i], "--dir") == 0) { + i++; + if(i == argc) { print_help(argv[0]);} + strncpy(data_dir, argv[i], sizeof(data_dir) / sizeof(char) - 1); + i++; + } + + else if(strcmp(argv[i], "--seed") == 0) { + i++; + if(i == argc) { print_help(argv[0]); } + srand48(atoi(argv[i])); + i++; + } + + else if(strcmp(argv[i], "--nb_shapes") == 0) { + i++; + if(i == argc) { print_help(argv[0]);} + nb_shapes = atoi(argv[i]); + i++; + } + + else if(strcmp(argv[i], "--multi_grasp") == 0) { + multi_grasp = 1; + i++; + } + + else if(strcmp(argv[i], "--every_nth") == 0) { + i++; + if(i == argc) { print_help(argv[0]);} + every_nth = atoi(argv[i]); + i++; + } + + else if(strcmp(argv[i], "--nb_frames") == 0) { + i++; + if(i == argc) { print_help(argv[0]);} + nb_frames = atoi(argv[i]); + i++; + } + + else { + cerr << "Unknown option " << argv[i] << "." << endl; + abort(); + } + } + + if(nb_shapes < 1 || nb_shapes > 10) { + cerr << "nb_shapes has to be in {1, ..., 10}" << endl; + abort(); + } + + if(nb_frames < 0 || nb_frames > 50) { + cerr << "nb_frames has to be in {0, ..., 50}" << endl; + abort(); + } + + universe = new Universe(nb_shapes, world_width, world_height); + + for(int n = 0; n < nb_sequences; n++) { + + scalar_t grab_start_x = world_width * 0.5; + scalar_t grab_start_y = world_height * 0.75; + + if(multi_grasp) { + grab_start_x = world_width * (0.1 + 0.8 * drand48()); + grab_start_y = world_height * (0.1 + 0.8 * drand48()); + } + + if((n+1)%100 == 0) { + cout << "Created " + << n+1 << "/" << nb_sequences << " sequences in " + << data_dir + << "." << endl; + } + + do { + universe->clear(); + + const int nb_attempts_max = 100; + int nb_attempts = 0; + + for(int u = 0; u < nb_shapes; u++) { + Polygon *pol = 0; + + nb_attempts = 0; + + do { + scalar_t x[] = { + - block_size * 0.4, + + block_size * 0.4, + + block_size * 0.4, + - block_size * 0.4, + }; + + scalar_t y[] = { + - block_size * 0.6, + - block_size * 0.6, + + block_size * 0.6, + + block_size * 0.6, + }; + + scalar_t delta = block_size / sqrt(2.0); + scalar_t object_center_x = delta + (world_width - 2 * delta) * drand48(); + scalar_t object_center_y = delta + (world_height - 2 * delta) * drand48(); + scalar_t red, green, blue; + red = 1.00; + green = red; + blue = red; + delete pol; + pol = new Polygon(0.5, + red, green, blue, + x, y, sizeof(x)/sizeof(scalar_t)); + pol->set_position(object_center_x, object_center_y, M_PI * 2 * drand48()); + pol->set_speed(0, 0, 0); + universe->initialize_polygon(pol); + nb_attempts++; + } while(nb_attempts < nb_attempts_max && universe->collide(pol)); + + if(nb_attempts == nb_attempts_max) { + delete pol; + u = 0; + universe->clear(); + nb_attempts = 0; + } else { + universe->add_polygon(pol); + } + } + + grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y); + } while(!grabbed_polygon); + + const scalar_t scaling = 0.16; + + CanvasCairo grab_trace(scaling, world_width, world_height); + + { + char buffer[1024]; + sprintf(buffer, "%s/%03d/", data_dir, n/1000); + mkdir(buffer, 0777); + } + + scalar_t grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y); + scalar_t grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y); + + { + int n = 36; + scalar_t xp[n], yp[n]; + for(int k = 0; k < n; k++) { + scalar_t radius = 1/scaling; + scalar_t alpha = 2 * M_PI * scalar_t(k) / scalar_t(n); + xp[k] = grab_start_x + radius * cos(alpha); + yp[k] = grab_start_y + radius * sin(alpha); + } + grab_trace.set_drawing_color(0.0, 0.0, 0.0); + grab_trace.set_line_width(2.0); + grab_trace.draw_polygon(1, n, xp, yp); + } + + for(int s = 0; s < nb_frames; s++) { + if(s % every_nth == 0) { + char buffer[1024]; + sprintf(buffer, "%s/%03d/dyn_%06d_world_%03d.png", data_dir, n/1000, n, s); + FILE *file = safe_fopen(buffer, "w"); + generate_png(universe, scaling, file); + fclose(file); + } + + for(int i = 0; i < nb_iterations_per_steps; i++) { + scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y); + scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y); + grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0); + universe->update(dt); + } + } + + { + char buffer[1024]; + sprintf(buffer, "%s/%03d/dyn_%06d_grab.png", data_dir, n/1000, n); + FILE *file = safe_fopen(buffer, "w"); + grab_trace.write_png(file); + fclose(file); + } + } + + delete universe; +} diff --git a/misc.cc b/misc.cc new file mode 100644 index 0000000..84c010a --- /dev/null +++ b/misc.cc @@ -0,0 +1,31 @@ + +/* + * dyncnn is a deep-learning algorithm for the prediction of + * interacting object dynamics + * + * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ + * Written by Francois Fleuret + * + * This file is part of dyncnn. + * + * dyncnn is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 3 as + * published by the Free Software Foundation. + * + * dyncnn is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with dyncnn. If not, see . + * + */ + +#include "misc.h" + +int compare_couple(const void *a, const void *b) { + if(((Couple *) a)->value < ((Couple *) b)->value) return -1; + else if(((Couple *) a)->value > ((Couple *) b)->value) return 1; + else return 0; +} diff --git a/misc.h b/misc.h new file mode 100644 index 0000000..0595f77 --- /dev/null +++ b/misc.h @@ -0,0 +1,53 @@ + +/* + * dyncnn is a deep-learning algorithm for the prediction of + * interacting object dynamics + * + * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ + * Written by Francois Fleuret + * + * This file is part of dyncnn. + * + * dyncnn is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 3 as + * published by the Free Software Foundation. + * + * dyncnn is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with dyncnn. If not, see . + * + */ + +#ifndef MISC_H +#define MISC_H + +#include +#include + +#ifdef DEBUG +#define ASSERT(x, s) if(!(x)) { std::cerr << "ASSERT FAILED IN " << __FILE__ << ":" << __LINE__ << " [" << (s) << "]\n"; abort(); } +#else +#define ASSERT(x, s) +#endif + +// typedef float scalar_t; +typedef double scalar_t; + +inline scalar_t sq(scalar_t x) { return x*x; } + +inline scalar_t prod_vect(scalar_t x1, scalar_t y1, scalar_t x2, scalar_t y2) { + return x1 * y2 - x2 * y1; +} + +struct Couple { + int index; + scalar_t value; +}; + +int compare_couple(const void *a, const void *b); + +#endif diff --git a/polygon.cc b/polygon.cc new file mode 100644 index 0000000..69b125e --- /dev/null +++ b/polygon.cc @@ -0,0 +1,533 @@ + +/* + * dyncnn is a deep-learning algorithm for the prediction of + * interacting object dynamics + * + * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ + * Written by Francois Fleuret + * + * This file is part of dyncnn. + * + * dyncnn is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 3 as + * published by the Free Software Foundation. + * + * dyncnn is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with dyncnn. If not, see . + * + */ + +#include + +using namespace std; + +#include +#include "polygon.h" + +static const scalar_t dl = 20.0; +static const scalar_t repulsion_constant = 0.2; +static const scalar_t dissipation = 0.5; + +Polygon::Polygon(scalar_t mass, + scalar_t red, scalar_t green, scalar_t blue, + scalar_t *x, scalar_t *y, + int nv) : _mass(mass), + _moment_of_inertia(0), _radius(0), + _relative_x(new scalar_t[nv]), _relative_y(new scalar_t[nv]), + _total_nb_dots(0), + _nb_dots(new int[nv]), + _effecting_edge(0), + _length(new scalar_t[nv]), + _triangles(new Triangle[nv-2]), + _initialized(false), _nailed(false), + _nb_vertices(nv), + _x(new scalar_t[nv]), _y(new scalar_t[nv]), + _red(red), _green(green), _blue(blue) { + _last_center_x = 0; + _last_center_y = 0; + _last_theta = 0; + + if(x) for(int i = 0; i < nv; i++) _relative_x[i] = x[i]; + if(y) for(int i = 0; i < nv; i++) _relative_y[i] = y[i]; +} + +Polygon::~Polygon() { + delete[] _relative_x; + delete[] _relative_y; + delete[] _x; + delete[] _y; + delete[] _nb_dots; + delete[] _length; + delete[] _triangles; + delete[] _effecting_edge; +} + +Polygon *Polygon::clone() { + return new Polygon(_mass, _red, _green, _blue, _relative_x, _relative_y, _nb_vertices); +} + +#ifdef XFIG_SUPPORT +void Polygon::color_xfig(XFigTracer *tracer) { + tracer->add_color(int(255 * _red), int(255 * _green), int(255 * _blue)); +} + +void Polygon::print_xfig(XFigTracer *tracer) { + tracer->draw_polygon(int(255 * _red), int(255 * _green), int(255 * _blue), + _nb_vertices, _x, _y); +} +#endif + +#ifdef X11_SUPPORT +void Polygon::draw(SimpleWindow *window) { + window->color(_red, _green, _blue); + int x[_nb_vertices], y[_nb_vertices]; + for(int n = 0; n < _nb_vertices; n++) { + x[n] = int(_x[n]); + y[n] = int(_y[n]); + } + window->fill_polygon(_nb_vertices, x, y); +} + +void Polygon::draw_contours(SimpleWindow *window) { + int x[_nb_vertices], y[_nb_vertices]; + for(int n = 0; n < _nb_vertices; n++) { + x[n] = int(_x[n]); + y[n] = int(_y[n]); + } + window->color(0.0, 0.0, 0.0); + // window->color(1.0, 1.0, 1.0); + for(int n = 0; n < _nb_vertices; n++) { + window->draw_line(x[n], y[n], x[(n+1)%_nb_vertices], y[(n+1)%_nb_vertices]); + } +} +#endif + +void Polygon::draw(Canvas *canvas) { + canvas->set_drawing_color(_red, _green, _blue); + canvas->draw_polygon(1, _nb_vertices, _x, _y); +} + +void Polygon::draw_contours(Canvas *canvas) { + canvas->set_drawing_color(0.0, 0.0, 0.0); + canvas->draw_polygon(0, _nb_vertices, _x, _y); +} + +void Polygon::set_vertex(int k, scalar_t x, scalar_t y) { + _relative_x[k] = x; + _relative_y[k] = y; +} + +void Polygon::set_position(scalar_t center_x, scalar_t center_y, scalar_t theta) { + _center_x = center_x; + _center_y = center_y; + _theta = theta; +} + +void Polygon::set_speed(scalar_t dcenter_x, scalar_t dcenter_y, scalar_t dtheta) { + _dcenter_x = dcenter_x; + _dcenter_y = dcenter_y; + _dtheta = dtheta; +} + +bool Polygon::contain(scalar_t x, scalar_t y) { + for(int t = 0; t < _nb_vertices-2; t++) { + scalar_t xa = _x[_triangles[t].a], ya = _y[_triangles[t].a]; + scalar_t xb = _x[_triangles[t].b], yb = _y[_triangles[t].b]; + scalar_t xc = _x[_triangles[t].c], yc = _y[_triangles[t].c]; + if(prod_vect(x - xa, y - ya, xb - xa, yb - ya) <= 0 && + prod_vect(x - xb, y - yb, xc - xb, yc - yb) <= 0 && + prod_vect(x - xc, y - yc, xa - xc, ya - yc) <= 0) return true; + } + return false; +} + +void Polygon::triangularize(int &nt, int nb, int *index) { + if(nb == 3) { + + if(nt >= _nb_vertices-2) { + cerr << "Error type #1 in triangularization." << endl; + exit(1); + } + + _triangles[nt].a = index[0]; + _triangles[nt].b = index[1]; + _triangles[nt].c = index[2]; + nt++; + + } else { + int best_m = -1, best_n = -1; + scalar_t best_split = -1, det, s = -1, t = -1; + + for(int n = 0; n < nb; n++) for(int m = 0; m < n; m++) if(n > m+1 && m+nb > n+1) { + bool no_intersection = true; + for(int k = 0; no_intersection & (k < nb); k++) + if(k != n && k != m && (k+1)%nb != n && (k+1)%nb != m) { + intersection(_relative_x[index[n]], _relative_y[index[n]], + _relative_x[index[m]], _relative_y[index[m]], + _relative_x[index[k]], _relative_y[index[k]], + _relative_x[index[(k+1)%nb]], _relative_y[index[(k+1)%nb]], det, s, t); + no_intersection = det == 0 || s < 0 || s > 1 || t < 0 || t > 1; + } + + if(no_intersection) { + scalar_t a1 = 0, a2 = 0; + for(int k = 0; k < nb; k++) if(k >= m && k < n) + a1 += prod_vect(_relative_x[index[k]] - _relative_x[index[m]], + _relative_y[index[k]] - _relative_y[index[m]], + _relative_x[index[k+1]] - _relative_x[index[m]], + _relative_y[index[k+1]] - _relative_y[index[m]]); + else + a2 += prod_vect(_relative_x[index[k]] - _relative_x[index[m]], + _relative_y[index[k]] - _relative_y[index[m]], + _relative_x[index[(k+1)%nb]] - _relative_x[index[m]], + _relative_y[index[(k+1)%nb]] - _relative_y[index[m]]); + + if((a1 * a2 > 0 && best_split < 0) || (abs(a1 - a2) < best_split)) { + best_n = n; best_m = m; + best_split = abs(a1 - a2); + } + } + } + + if(best_n >= 0 && best_m >= 0) { + int index_neg[nb], index_pos[nb]; + int neg = 0, pos = 0; + for(int k = 0; k < nb; k++) { + if(k >= best_m && k <= best_n) index_pos[pos++] = index[k]; + if(k <= best_m || k >= best_n) index_neg[neg++] = index[k]; + } + if(pos < 3 || neg < 3) { + cerr << "Error type #2 in triangularization." << endl; + exit(1); + } + triangularize(nt, pos, index_pos); + triangularize(nt, neg, index_neg); + } else { + cerr << "Error type #3 in triangularization." << endl; + exit(1); + } + } +} + +void Polygon::initialize(int nb_polygons) { + scalar_t a; + + _nb_polygons = nb_polygons; + + a = _relative_x[_nb_vertices - 1] * _relative_y[0] + - _relative_x[0] * _relative_y[_nb_vertices - 1]; + + for(int n = 0; n < _nb_vertices - 1; n++) + a += _relative_x[n] * _relative_y[n+1] - _relative_x[n+1] * _relative_y[n]; + a *= 0.5; + + // Reorder the vertices + + if(a < 0) { + a = -a; + scalar_t x, y; + for(int n = 0; n < _nb_vertices / 2; n++) { + x = _relative_x[n]; + y = _relative_y[n]; + _relative_x[n] = _relative_x[_nb_vertices - 1 - n]; + _relative_y[n] = _relative_y[_nb_vertices - 1 - n]; + _relative_x[_nb_vertices - 1 - n] = x; + _relative_y[_nb_vertices - 1 - n] = y; + } + } + + // Compute the center of mass and moment of inertia + + scalar_t sx, sy, w; + w = 0; + sx = 0; + sy = 0; + for(int n = 0; n < _nb_vertices; n++) { + int np = (n+1)%_nb_vertices; + w =_relative_x[n] * _relative_y[np] - _relative_x[np] * _relative_y[n]; + sx += (_relative_x[n] + _relative_x[np]) * w; + sy += (_relative_y[n] + _relative_y[np]) * w; + } + sx /= 6 * a; + sy /= 6 * a; + + _radius = 0; + for(int n = 0; n < _nb_vertices; n++) { + _relative_x[n] -= sx; + _relative_y[n] -= sy; + scalar_t r = sqrt(sq(_relative_x[n]) + sq(_relative_y[n])); + if(r > _radius) _radius = r; + } + + scalar_t num = 0, den = 0; + for(int n = 0; n < _nb_vertices; n++) { + int np = (n+1)%_nb_vertices; + den += abs(prod_vect(_relative_x[np], _relative_y[np], _relative_x[n], _relative_y[n])); + num += abs(prod_vect(_relative_x[np], _relative_y[np], _relative_x[n], _relative_y[n])) * + (_relative_x[np] * _relative_x[np] + _relative_y[np] * _relative_y[np] + + _relative_x[np] * _relative_x[n] + _relative_y[np] * _relative_y[n] + + _relative_x[n] * _relative_x[n] + _relative_y[n] * _relative_y[n]); + } + + _moment_of_inertia = num / (6 * den); + + scalar_t vx = cos(_theta), vy = sin(_theta); + + for(int n = 0; n < _nb_vertices; n++) { + _x[n] = _center_x + _relative_x[n] * vx + _relative_y[n] * vy; + _y[n] = _center_y - _relative_x[n] * vy + _relative_y[n] * vx; + } + + scalar_t length; + _total_nb_dots = 0; + for(int n = 0; n < _nb_vertices; n++) { + length = sqrt(sq(_relative_x[n] - _relative_x[(n+1)%_nb_vertices]) + + sq(_relative_y[n] - _relative_y[(n+1)%_nb_vertices])); + _length[n] = length; + _nb_dots[n] = int(length / dl + 1); + _total_nb_dots += _nb_dots[n]; + } + + delete[] _effecting_edge; + _effecting_edge = new int[_nb_polygons * _total_nb_dots]; + for(int p = 0; p < _nb_polygons * _total_nb_dots; p++) _effecting_edge[p] = -1; + + int nt = 0; + int index[_nb_vertices]; + for(int n = 0; n < _nb_vertices; n++) index[n] = n; + triangularize(nt, _nb_vertices, index); + + _initialized = true; +} + +bool Polygon::update(scalar_t dt) { + if(!_nailed) { + _center_x += _dcenter_x * dt; + _center_y += _dcenter_y * dt; + _theta += _dtheta * dt; + } + + scalar_t d = exp(log(dissipation) * dt); + _dcenter_x *= d; + _dcenter_y *= d; + _dtheta *= d; + + scalar_t vx = cos(_theta), vy = sin(_theta); + + for(int n = 0; n < _nb_vertices; n++) { + _x[n] = _center_x + _relative_x[n] * vx + _relative_y[n] * vy; + _y[n] = _center_y - _relative_x[n] * vy + _relative_y[n] * vx; + } + + if(abs(_center_x - _last_center_x) + + abs(_center_y - _last_center_y) + + abs(_theta - _last_theta) * _radius > 0.1) { + _last_center_x = _center_x; + _last_center_y = _center_y; + _last_theta = _theta; + return true; + } else return false; +} + +scalar_t Polygon::relative_x(scalar_t ax, scalar_t ay) { + return (ax - _center_x) * cos(_theta) - (ay - _center_y) * sin(_theta); +} + +scalar_t Polygon::relative_y(scalar_t ax, scalar_t ay) { + return (ax - _center_x) * sin(_theta) + (ay - _center_y) * cos(_theta); +} + +scalar_t Polygon::absolute_x(scalar_t rx, scalar_t ry) { + return _center_x + rx * cos(_theta) + ry * sin(_theta); +} + +scalar_t Polygon::absolute_y(scalar_t rx, scalar_t ry) { + return _center_y - rx * sin(_theta) + ry * cos(_theta); +} + +void Polygon::apply_force(scalar_t dt, scalar_t x, scalar_t y, scalar_t fx, scalar_t fy) { + _dcenter_x += fx / _mass * dt; + _dcenter_y += fy / _mass * dt; + _dtheta -= prod_vect(x - _center_x, y - _center_y, fx, fy) / (_mass * _moment_of_inertia) * dt; +} + +void Polygon::apply_border_forces(scalar_t dt, scalar_t xmax, scalar_t ymax) { + for(int v = 0; v < _nb_vertices; v++) { + int vp = (v+1)%_nb_vertices; + for(int d = 0; d < _nb_dots[v]; d++) { + scalar_t s = scalar_t(d * dl)/_length[v]; + scalar_t x = _x[v] * (1 - s) + _x[vp] * s; + scalar_t y = _y[v] * (1 - s) + _y[vp] * s; + scalar_t vx = 0, vy = 0; + if(x < 0) vx = x; + else if(x > xmax) vx = x - xmax; + if(y < 0) vy = y; + else if(y > ymax) vy = y - ymax; + apply_force(dt, x, y, - dl * vx * repulsion_constant, - dl * vy * repulsion_constant); + } + } +} + +void Polygon::apply_collision_forces(scalar_t dt, int n_polygon, Polygon *p) { + scalar_t closest_x[_total_nb_dots], closest_y[_total_nb_dots]; + bool inside[_total_nb_dots]; + scalar_t distance[_total_nb_dots]; + int _new_effecting_edge[_total_nb_dots]; + + int first_dot = 0; + + for(int v = 0; v < _nb_vertices; v++) { + int vp = (v+1)%_nb_vertices; + scalar_t x = _x[v], y = _y[v], xp = _x[vp], yp = _y[vp]; + + for(int d = 0; d < _nb_dots[v]; d++) { + inside[d] = false; + distance[d] = FLT_MAX; + } + + // First, we tag the dots located inside the polygon p + + for(int t = 0; t < p->_nb_vertices-2; t++) { + scalar_t min = 0, max = 1; + scalar_t xa = p->_x[p->_triangles[t].a], ya = p->_y[p->_triangles[t].a]; + scalar_t xb = p->_x[p->_triangles[t].b], yb = p->_y[p->_triangles[t].b]; + scalar_t xc = p->_x[p->_triangles[t].c], yc = p->_y[p->_triangles[t].c]; + scalar_t den, num; + + const scalar_t eps = 1e-6; + + den = prod_vect(xp - x, yp - y, xb - xa, yb - ya); + num = prod_vect(xa - x, ya - y, xb - xa, yb - ya); + if(den > eps) { + if(num / den < max) max = num / den; + } else if(den < -eps) { + if(num / den > min) min = num / den; + } else { + if(num < 0) { min = 1; max = 0; } + } + + den = prod_vect(xp - x, yp - y, xc - xb, yc - yb); + num = prod_vect(xb - x, yb - y, xc - xb, yc - yb); + if(den > eps) { + if(num / den < max) max = num / den; + } else if(den < -eps) { + if(num / den > min) min = num / den; + } else { + if(num < 0) { min = 1; max = 0; } + } + + den = prod_vect(xp - x, yp - y, xa - xc, ya - yc); + num = prod_vect(xc - x, yc - y, xa - xc, ya - yc); + if(den > eps) { + if(num / den < max) max = num / den; + } else if(den < -eps) { + if(num / den > min) min = num / den; + } else { + if(num < 0) { min = 1; max = 0; } + } + + for(int d = 0; d < _nb_dots[v]; d++) { + scalar_t s = scalar_t(d * dl)/_length[v]; + if(s >= min && s <= max) inside[d] = true; + } + } + + // Then, we compute for each dot what is the closest point on + // the boundary of p + + for(int m = 0; m < p->_nb_vertices; m++) { + int mp = (m+1)%p->_nb_vertices; + scalar_t xa = p->_x[m], ya = p->_y[m]; + scalar_t xb = p->_x[mp], yb = p->_y[mp]; + scalar_t gamma0 = ((x - xa) * (xb - xa) + (y - ya) * (yb - ya)) / sq(p->_length[m]); + scalar_t gamma1 = ((xp - x) * (xb - xa) + (yp - y) * (yb - ya)) / sq(p->_length[m]); + scalar_t delta0 = (prod_vect(xb - xa, yb - ya, x - xa, y - ya)) / p->_length[m]; + scalar_t delta1 = (prod_vect(xb - xa, yb - ya, xp - x, yp - y)) / p->_length[m]; + + for(int d = 0; d < _nb_dots[v]; d++) if(inside[d]) { + int r = _effecting_edge[(first_dot + d) * _nb_polygons + n_polygon]; + + // If there is already a spring, we look only at the + // vertices next to the current one + + if(r < 0 || m == r || m == (r+1)%p->_nb_vertices || (m+1)%p->_nb_vertices == r) { + + scalar_t s = scalar_t(d * dl)/_length[v]; + scalar_t delta = abs(s * delta1 + delta0); + if(delta < distance[d]) { + scalar_t gamma = s * gamma1 + gamma0; + if(gamma < 0) { + scalar_t l = sqrt(sq(x * (1 - s) + xp * s - xa) + sq(y * (1 - s) + yp * s - ya)); + if(l < distance[d]) { + distance[d] = l; + closest_x[d] = xa; + closest_y[d] = ya; + _new_effecting_edge[first_dot + d] = m; + } + } else if(gamma > 1) { + scalar_t l = sqrt(sq(x * (1 - s) + xp * s - xb) + sq(y * (1 - s) + yp * s - yb)); + if(l < distance[d]) { + distance[d] = l; + closest_x[d] = xb; + closest_y[d] = yb; + _new_effecting_edge[first_dot + d] = m; + } + } else { + distance[d] = delta; + closest_x[d] = xa * (1 - gamma) + xb * gamma; + closest_y[d] = ya * (1 - gamma) + yb * gamma; + _new_effecting_edge[first_dot + d] = m; + } + } + } + } else _new_effecting_edge[first_dot + d] = -1; + } + + // Apply forces + + for(int d = 0; d < _nb_dots[v]; d++) if(inside[d]) { + scalar_t s = scalar_t(d * dl)/_length[v]; + scalar_t x = _x[v] * (1 - s) + _x[vp] * s; + scalar_t y = _y[v] * (1 - s) + _y[vp] * s; + scalar_t vx = x - closest_x[d]; + scalar_t vy = y - closest_y[d]; + + p->apply_force(dt, + closest_x[d], closest_y[d], + dl * vx * repulsion_constant, dl * vy * repulsion_constant); + + apply_force(dt, + x, y, + - dl * vx * repulsion_constant, - dl * vy * repulsion_constant); + } + + first_dot += _nb_dots[v]; + } + + for(int d = 0; d < _total_nb_dots; d++) + _effecting_edge[d * _nb_polygons + n_polygon] = _new_effecting_edge[d]; + +} + +bool Polygon::collide(Polygon *p) { + for(int n = 0; n < _nb_vertices; n++) { + int np = (n+1)%_nb_vertices; + for(int m = 0; m < p->_nb_vertices; m++) { + int mp = (m+1)%p->_nb_vertices; + scalar_t det, s = -1, t = -1; + intersection(_x[n], _y[n], _x[np], _y[np], + p->_x[m], p->_y[m], p->_x[mp], p->_y[mp], det, s, t); + if(det != 0 && s>= 0 && s <= 1&& t >= 0 && t <= 1) return true; + } + } + + for(int n = 0; n < _nb_vertices; n++) if(p->contain(_x[n], _y[n])) return true; + for(int n = 0; n < p->_nb_vertices; n++) if(contain(p->_x[n], p->_y[n])) return true; + + return false; +} diff --git a/polygon.h b/polygon.h new file mode 100644 index 0000000..8e23a70 --- /dev/null +++ b/polygon.h @@ -0,0 +1,128 @@ + +/* + * dyncnn is a deep-learning algorithm for the prediction of + * interacting object dynamics + * + * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ + * Written by Francois Fleuret + * + * This file is part of dyncnn. + * + * dyncnn is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 3 as + * published by the Free Software Foundation. + * + * dyncnn is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with dyncnn. If not, see . + * + */ + +#ifndef POLYGON_H +#define POLYGON_H + +#include "misc.h" +#include "canvas.h" + +#ifdef XFIG_SUPPORT +#include "xfig_tracer.h" +#endif + +#ifdef X11_SUPPORT +#include "simple_window.h" +#endif + +class Polygon { + struct Triangle { + int a, b, c; + }; + + int _nb_max_polygons; + int _nb_polygons; // We need to know the total number of polygons in + // the universe + + scalar_t _mass, _moment_of_inertia, _radius; + + scalar_t *_relative_x, *_relative_y; + scalar_t _last_center_x, _last_center_y, _last_theta; + + int _total_nb_dots; + int *_nb_dots; + int *_effecting_edge; + + scalar_t *_length; + Triangle *_triangles; + + inline void intersection(scalar_t xa2, scalar_t ya2, + scalar_t xa1, scalar_t ya1, + scalar_t xb2, scalar_t yb2, + scalar_t xb1, scalar_t yb1, + scalar_t &det, scalar_t &s1, scalar_t &s2) { + scalar_t m11, m12, m21, m22, n11, n12, n21, n22, v1, v2; + m11 = xa1 - xa2; m12 = xb2 - xb1; m21 = ya1 - ya2; m22 = yb2 - yb1; + det = m11 * m22 - m12 * m21; + if(det != 0) { + n11 = + m22 / det; n12 = - m12 / det; n21 = - m21 / det; n22 = + m11 / det; + v1 = xb2 - xa2; v2 = yb2 - ya2; + s1 = n11 * v1 + n12 * v2; s2 = n21 * v1 + n22 * v2; + } + } + +public: + bool _initialized; + bool _nailed; + int _nb_vertices; + scalar_t *_x, *_y; + scalar_t _red, _green, _blue; + scalar_t _center_x, _center_y, _theta; + scalar_t _dcenter_x, _dcenter_y, _dtheta; + + // The x and y parameters are ignored if null. Useful to initialize + // directly. + + Polygon(scalar_t mass, + scalar_t red, scalar_t green, scalar_t blue, + scalar_t *x, scalar_t *y, + int nv); + + ~Polygon(); + + Polygon *clone(); + +#ifdef XFIG_SUPPORT + void color_xfig(XFigTracer *tracer); + void print_xfig(XFigTracer *tracer); +#endif + +#ifdef X11_SUPPORT + void draw(SimpleWindow *window); + void draw_contours(SimpleWindow *window); +#endif + + void draw(Canvas *canvas); + void draw_contours(Canvas *canvas); + + void set_vertex(int k, scalar_t x, scalar_t y); + void set_position(scalar_t center_x, scalar_t center_y, scalar_t theta); + void set_speed(scalar_t dcenter_x, scalar_t dcenter_y, scalar_t dtheta); + bool contain(scalar_t x, scalar_t y); + void triangularize(int &nt, int nb, int *index); + void initialize(int nb_polygons); + bool update(scalar_t dt); + scalar_t relative_x(scalar_t ax, scalar_t ay); + scalar_t relative_y(scalar_t ax, scalar_t ay); + scalar_t absolute_x(scalar_t rx, scalar_t ry); + scalar_t absolute_y(scalar_t rx, scalar_t ry); + + void apply_force(scalar_t dt, scalar_t x, scalar_t y, scalar_t fx, scalar_t fy); + void apply_border_forces(scalar_t dt, scalar_t xmax, scalar_t ymax); + void apply_collision_forces(scalar_t dt, int n_polygon, Polygon *p); + + bool collide(Polygon *p); +}; + +#endif diff --git a/run.sh b/run.sh new file mode 100755 index 0000000..d905ef9 --- /dev/null +++ b/run.sh @@ -0,0 +1,68 @@ +#!/bin/bash + +# dyncnn is a deep-learning algorithm for the prediction of +# interacting object dynamics +# +# Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ +# Written by Francois Fleuret +# +# This file is part of dyncnn. +# +# dyncnn is free software: you can redistribute it and/or modify it +# under the terms of the GNU General Public License version 3 as +# published by the Free Software Foundation. +# +# dyncnn is distributed in the hope that it will be useful, but +# WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +# General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with dyncnn. If not, see . + +# This script creates the synthetic data-set for shape collision + +set -e +set -o pipefail + +[[ "${TORCH_NB_THREADS}" ]] || echo "You can set \$TORCH_NB_THREADS to the proper value (default 1)." +[[ "${TORCH_USE_GPU}" ]] || echo "You can set \$TORCH_USE_GPU to 'yes' or 'no' (default 'no')." +[[ "${DYNCNN_DATA_DIR}" ]] || DYNCNN_DATA_DIR="./data/10p-mg" +[[ "${DYNCNN_RESULT_DIR}" ]] || DYNCNN_RESULT_DIR="./results" + +if [[ -d "${DYNCNN_DATA_DIR}" ]]; then + echo "Found ${DYNCNN_DATA_DIR}, checking the number of images in there." + if [[ $(find "${DYNCNN_DATA_DIR}" -name "dyn_*.png" | wc -l) == 150000 ]]; then + echo "Looks good !" + else + echo "I do not find the proper number of images. Please remove the dir and re-run this scripts, or fix manually." + exit 1 + fi +else + # Creating the data-base + make -j -k + mkdir -p "${DYNCNN_DATA_DIR}" + ./flatland 50000 \ + --every_nth 4 --nb_frames 5 \ + --multi_grasp --nb_shapes 10 \ + --dir "${DYNCNN_DATA_DIR}" +fi + +# Train the model (takes days) + +if [[ ! -f "${DYNCNN_RESULT_DIR}"/epoch_01000_model ]]; then + ./dyncnn.lua --heavy --dataDir="${DYNCNN_DATA_DIR}" \ + --resultFreq=100 \ + --resultDir "${DYNCNN_RESULT_DIR}" \ + --nbEpochs 1000 +fi + +# Create the images of internal activations + +for n in 2 12; do + ./dyncnn.lua --heavy --dataDir=./data/10p-mg/ \ + --learningStateFile="${DYNCNN_RESULT_DIR}"/epoch_01000_model \ + --resultDir="${DYNCNN_RESULT_DIR}" \ + --noLog \ + --exampleInternals=${n} +done diff --git a/universe.cc b/universe.cc new file mode 100644 index 0000000..658c32c --- /dev/null +++ b/universe.cc @@ -0,0 +1,196 @@ + +/* + * dyncnn is a deep-learning algorithm for the prediction of + * interacting object dynamics + * + * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ + * Written by Francois Fleuret + * + * This file is part of dyncnn. + * + * dyncnn is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 3 as + * published by the Free Software Foundation. + * + * dyncnn is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with dyncnn. If not, see . + * + */ + +#include + +#include "universe.h" + +Universe::Universe(int nb_max_polygons, + scalar_t width, scalar_t height) : _width(width), + _height(height), + _nb_max_polygons(nb_max_polygons), + _nb_polygons(0) { + _polygons = new Polygon *[_nb_max_polygons]; + for(int n = 0; n < _nb_max_polygons; n++) _polygons[n] = 0; +} + +Universe::~Universe() { + clear(); + delete[] _polygons; +} + +void Universe::initialize_polygon(Polygon *p) { + p->initialize(_nb_max_polygons); +} + +void Universe::clear() { + for(int n = 0; n < _nb_polygons; n++) if(_polygons[n]) delete _polygons[n]; + _nb_polygons = 0; +} + +void Universe::add_polygon(Polygon *p) { + if(_nb_polygons < _nb_max_polygons) { + if(!p->_initialized) { + cerr << "You can not add a non-initialized polygon." << endl; + abort(); + } + _polygons[_nb_polygons++] = p; + } else { + cerr << "Too many polygons!" << endl; + exit(1); + } +} + +bool Universe::collide(Polygon *p) { + for(int n = 0; n < _nb_polygons; n++) + if(_polygons[n] && _polygons[n]->collide(p)) return true; + + return false; +} + +void Universe::compute_pseudo_collisions(int nb_axis, int *nb_colliding_axis) { + Couple couples[_nb_polygons * 2]; + int in[_nb_polygons]; + memset((void *) nb_colliding_axis, 0, _nb_polygons * _nb_polygons * sizeof(int)); + + for(int a = 0; a < nb_axis; a++) { + scalar_t alpha = M_PI * scalar_t(a) / scalar_t(nb_axis); + scalar_t vx = cos(alpha), vy = sin(alpha); + + for(int n = 0; n < _nb_polygons; n++) { + scalar_t *x = _polygons[n]->_x, *y = _polygons[n]->_y; + scalar_t min = x[0] * vx + y[0] * vy, max = min; + + for(int v = 1; v < _polygons[n]->_nb_vertices; v++) { + scalar_t s = x[v] * vx + y[v] * vy; + if(s > max) max = s; + if(s < min) min = s; + } + + couples[2 * n + 0].value = min; + couples[2 * n + 0].index = n; + couples[2 * n + 1].value = max; + couples[2 * n + 1].index = n; + } + + qsort((void *) couples, 2 * _nb_polygons, sizeof(Couple), compare_couple); + + int nb_in = 0; + memset((void *) in, 0, _nb_polygons * sizeof(int)); + for(int k = 0; k < 2 * _nb_polygons; k++) { + int i = couples[k].index; + in[i] = !in[i]; + if(in[i]) { + nb_in++; + if(nb_in > 1) { + for(int j = 0; j < i; j++) + if(j != i && in[j]) nb_colliding_axis[j + i * _nb_polygons]++; + for(int j = i+1; j < _nb_polygons; j++) + if(j != i && in[j]) nb_colliding_axis[i + j * _nb_polygons]++; + } + } else nb_in--; + } + } + + for(int i = 0; i < _nb_polygons; i++) { + for(int j = 0; j < i; j++) { + if(nb_colliding_axis[j + i * _nb_polygons] > nb_colliding_axis[i + i * _nb_polygons]) + nb_colliding_axis[i + i * _nb_polygons] = nb_colliding_axis[j + i * _nb_polygons]; + nb_colliding_axis[i + j * _nb_polygons] = nb_colliding_axis[j + i * _nb_polygons]; + } + } +} + +bool Universe::update(scalar_t dt) { + bool result = false; + apply_collision_forces(dt); + for(int n = 0; n < _nb_polygons; n++) if(_polygons[n]) { + _polygons[n]->apply_border_forces(dt, _width, _height); + result |= _polygons[n]->update(dt); + } + return result; +} + +Polygon *Universe::pick_polygon(scalar_t x, scalar_t y) { + for(int n = 0; n < _nb_polygons; n++) + if(_polygons[n] && _polygons[n]->contain(x, y)) return _polygons[n]; + return 0; +} + +#ifdef XFIG_SUPPORT +void Universe::print_xfig(XFigTracer *tracer) { + for(int n = 0; n < _nb_polygons; n++) { + if(_polygons[n]) { + _polygons[n]->color_xfig(tracer); + } + } + for(int n = 0; n < _nb_polygons; n++) { + if(_polygons[n]) { + _polygons[n]->print_xfig(tracer); + } + } +} +#endif + +#ifdef X11_SUPPORT +void Universe::draw(SimpleWindow *window) { + for(int n = 0; n < _nb_polygons; n++) { + if(_polygons[n]) { + _polygons[n]->draw(window); + } + } + + for(int n = 0; n < _nb_polygons; n++) { + if(_polygons[n]) { + _polygons[n]->draw_contours(window); + } + } +} +#endif + +void Universe::draw(Canvas *canvas) { + for(int n = 0; n < _nb_polygons; n++) { + if(_polygons[n]) { + _polygons[n]->draw(canvas); + } + } + + for(int n = 0; n < _nb_polygons; n++) { + if(_polygons[n]) { + _polygons[n]->draw_contours(canvas); + } + } +} + +void Universe::apply_collision_forces(scalar_t dt) { + const int nb_axis = 2; + int nb_collision[_nb_polygons * _nb_polygons]; + + compute_pseudo_collisions(nb_axis, nb_collision); + + for(int n = 0; n < _nb_polygons; n++) if(_polygons[n]) + for(int m = 0; m < _nb_polygons; m++) + if(m != n && _polygons[m] && nb_collision[n + _nb_polygons * m] == nb_axis) + _polygons[n]->apply_collision_forces(dt, m, _polygons[m]); +} diff --git a/universe.h b/universe.h new file mode 100644 index 0000000..6cb4193 --- /dev/null +++ b/universe.h @@ -0,0 +1,78 @@ + +/* + * dyncnn is a deep-learning algorithm for the prediction of + * interacting object dynamics + * + * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/ + * Written by Francois Fleuret + * + * This file is part of dyncnn. + * + * dyncnn is free software: you can redistribute it and/or modify it + * under the terms of the GNU General Public License version 3 as + * published by the Free Software Foundation. + * + * dyncnn is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with dyncnn. If not, see . + * + */ + +#ifndef UNIVERSE_H +#define UNIVERSE_H + +#include +#include + +#include "misc.h" +#include "canvas.h" +#include "polygon.h" + +#ifdef X11_SUPPORT +#include "simple_window.h" +#endif + +using namespace std; + +class Universe { + scalar_t _width, _height; +public: + int _nb_max_polygons, _nb_polygons; + Polygon **_polygons; + + inline scalar_t width() { return _width; } + inline scalar_t height() { return _height; } + + Universe(int nb_max_polygons, scalar_t width, scalar_t height); + // The destructor deletes all the added polygons + ~Universe(); + + void initialize_polygon(Polygon *p); + void clear(); + void add_polygon(Polygon *p); + bool collide(Polygon *p); + + // Compute collisions between projections of the polygons on a few + // axis to speed up the computation + void compute_pseudo_collisions(int nb_axis, int *nb_colliding_axis); + void apply_collision_forces(scalar_t dt); + bool update(scalar_t dt); + + Polygon *pick_polygon(scalar_t x, scalar_t y); + +#ifdef XFIG_SUPPORT + void print_xfig(XFigTracer *tracer); +#endif + +#ifdef X11_SUPPORT + void draw(SimpleWindow *window); +#endif + + void draw(Canvas *canvas); +}; + +#endif