When I attempt to call computePick, I get an error - Does it require double[4] coordinates instead of double[3] for parameters from, to? I assume then that from[3] and to[3] should be set to 1 then, correct? It seems reasonable to expect it to work with double[3] parameters as points, but maybe that's asking too much, or do I misunderstand the pick system? Some documentation would be helpful to confirm my suspicion on how it should work, or to point me in the right direction if I'm wrong, Thanks.
Here is what I'm trying to do (The narrow beam is more like an optical range finder than a sonar :) )
Code: Select all
private double getSonar(SceneGraphPath cameraPath) {
double sonar = 0;
PickSystem picker = new AABBPickSystem();
SceneGraphComponent world = viewer.getSceneRoot();
picker.setSceneRoot(world);
// Transform from and to from camera coordinates into world coordinates.
double[] from = new double[]{0,0,0};
System.out.printf("From: (%f, %f, %f)\n",from[0],from[1],from[2]);
double[] to = new double[]{0,0,-36};
System.out.printf("To: (%f, %f, %f)\n",to[0],to[1],to[2]);
double[] a = cameraPath.getMatrix(new double[16]);
System.out.println(Rn.matrixToString(a));
Rn.matrixTimesVector(from, a, from);
System.out.printf("From: (%f, %f, %f)\n",from[0],from[1],from[2]);
Rn.matrixTimesVector(to, a, to);
System.out.printf("To: (%f, %f, %f)\n",to[0],to[1],to[2]);
List<PickResult> list = picker.computePick(from, to);[ // This line is RoboticSystem.java:556
if (list.isEmpty()) return 0;
PickResult pickResult = list.get(0);
double[] point = pickResult.getWorldCoordinates();
System.out.printf("point: (%f, %f, %f)\n",point[0],point[1],point[2]);
double[] delta = new double[3];
R3.minus(from, point, delta);
System.out.printf("delta: (%f, %f, %f)\n",delta[0],delta[1],delta[2]);
sonar = Math.sqrt(delta[0]*delta[0]+delta[1]*delta[1]+delta[2]*delta[2]);
System.out.println("distance: "+sonar);
return sonar;
}
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Vendor = NVIDIA Corporation
Have automipmap generation = true
Using camera #2
From: (0.000000, 0.000000, 0.000000)
To: (0.000000, 0.000000, -36.000000)
6.12323e-17 0.00000 1.00000 36.0000
0.00000 1.00000 0.00000 -12.0000
-1.00000 0.00000 6.12323e-17 2.20436e-15
0.00000 0.00000 0.00000 1.00000
From: (36.000000, -12.000000, 0.000000)
To: (0.000000, -12.000000, 0.000000)
Exception in thread "AWT-EventQueue-0" java.lang.ArrayIndexOutOfBoundsException: 3
at de.jreality.math.P3.barycentricCoordinates(P3.java:1050)
at de.jreality.math.P3.affineCoordinate(P3.java:1081)
at de.jreality.scene.pick.BruteForcePicking.intersectSphere(BruteForcePicking.java:314)
at de.jreality.scene.pick.AABBPickSystem$Impl.visit(AABBPickSystem.java:290)
at de.jreality.scene.Sphere.accept(Sphere.java:58)
at de.jreality.scene.SceneGraphComponent.childrenAccept(SceneGraphComponent.java:413)
at de.jreality.scene.pick.AABBPickSystem$Impl.visit(AABBPickSystem.java:252)
at de.jreality.scene.SceneGraphComponent.accept(SceneGraphComponent.java:381)
at de.jreality.scene.SceneGraphComponent.childrenAccept(SceneGraphComponent.java:416)
at de.jreality.scene.pick.AABBPickSystem$Impl.visit(AABBPickSystem.java:252)
at de.jreality.scene.SceneGraphComponent.accept(SceneGraphComponent.java:381)
at de.jreality.scene.SceneGraphComponent.childrenAccept(SceneGraphComponent.java:416)
at de.jreality.scene.pick.AABBPickSystem$Impl.visit(AABBPickSystem.java:252)
at de.jreality.scene.SceneGraphComponent.accept(SceneGraphComponent.java:381)
at de.jreality.scene.SceneGraphComponent.childrenAccept(SceneGraphComponent.java:416)
at de.jreality.scene.pick.AABBPickSystem$Impl.visit(AABBPickSystem.java:252)
at de.jreality.scene.SceneGraphComponent.accept(SceneGraphComponent.java:381)
at de.jreality.scene.SceneGraphComponent.childrenAccept(SceneGraphComponent.java:416)
at de.jreality.scene.pick.AABBPickSystem$Impl.visit(AABBPickSystem.java:252)
at de.jreality.scene.SceneGraphComponent.accept(SceneGraphComponent.java:381)
at de.jreality.scene.SceneGraphComponent.childrenAccept(SceneGraphComponent.java:416)
at de.jreality.scene.pick.AABBPickSystem$Impl.visit(AABBPickSystem.java:252)
at de.jreality.scene.pick.AABBPickSystem$Impl.visit(AABBPickSystem.java:282)
at de.jreality.scene.pick.AABBPickSystem.computePick(AABBPickSystem.java:109)
at edu.usta.ace.ted.RoboticSystem.getSonar(RoboticSystem.java:556)
at edu.usta.ace.ted.RoboticSystem.access$4(RoboticSystem.java:536)
at edu.usta.ace.ted.RoboticSystem$1.keyPressed(RoboticSystem.java:199)
at java.awt.AWTEventMulticaster.keyPressed(AWTEventMulticaster.java:233)
at java.awt.Component.processKeyEvent(Component.java:6340)
at javax.swing.JComponent.processKeyEvent(JComponent.java:2809)
at java.awt.Component.processEvent(Component.java:6159)
at java.awt.Container.processEvent(Container.java:2083)
at java.awt.Component.dispatchEventImpl(Component.java:4744)
at java.awt.Container.dispatchEventImpl(Container.java:2141)
at java.awt.Component.dispatchEvent(Component.java:4572)
at java.awt.KeyboardFocusManager.redispatchEvent(KeyboardFocusManager.java:1856)
at java.awt.DefaultKeyboardFocusManager.dispatchKeyEvent(DefaultKeyboardFocusManager.java:722)
at java.awt.DefaultKeyboardFocusManager.preDispatchKeyEvent(DefaultKeyboardFocusManager.java:1000)
at java.awt.DefaultKeyboardFocusManager.typeAheadAssertions(DefaultKeyboardFocusManager.java:865)
at java.awt.DefaultKeyboardFocusManager.dispatchEvent(DefaultKeyboardFocusManager.java:686)
at java.awt.Component.dispatchEventImpl(Component.java:4616)
at java.awt.Container.dispatchEventImpl(Container.java:2141)
at java.awt.Window.dispatchEventImpl(Window.java:2489)
at java.awt.Component.dispatchEvent(Component.java:4572)
at java.awt.EventQueue.dispatchEventImpl(EventQueue.java:704)
at java.awt.EventQueue.access$400(EventQueue.java:82)
at java.awt.EventQueue$2.run(EventQueue.java:663)
at java.awt.EventQueue$2.run(EventQueue.java:661)
at java.security.AccessController.doPrivileged(Native Method)
at java.security.AccessControlContext$1.doIntersectionPrivilege(AccessControlContext.java:87)
at java.security.AccessControlContext$1.doIntersectionPrivilege(AccessControlContext.java:98)
at java.awt.EventQueue$3.run(EventQueue.java:677)
at java.awt.EventQueue$3.run(EventQueue.java:675)
at java.security.AccessController.doPrivileged(Native Method)
at java.security.AccessControlContext$1.doIntersectionPrivilege(AccessControlContext.java:87)
at java.awt.EventQueue.dispatchEvent(EventQueue.java:674)
at java.awt.EventDispatchThread.pumpOneEventForFilters(EventDispatchThread.java:296)
at java.awt.EventDispatchThread.pumpEventsForFilter(EventDispatchThread.java:211)
at java.awt.EventDispatchThread.pumpEventsForHierarchy(EventDispatchThread.java:201)
at java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:196)
at java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:188)
at java.awt.EventDispatchThread.run(EventDispatchThread.java:122)
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Index: src-core/de/jreality/scene/pick/PickSystem.java
===================================================================
--- src-core/de/jreality/scene/pick/PickSystem.java (revision 5518)
+++ src-core/de/jreality/scene/pick/PickSystem.java (working copy)
@@ -57,9 +57,9 @@
* The parameters need to be homogenious coordinates.
*
* @param from
- * foot point of ray in world coordinates
+ * foot point of ray in world coordinates (x,y,z,1)
* @param to
- * end point of ray in world coordinates (can be at infinity)
+ * end point of ray in world coordinates (x,y,z,1) (can be at infinity)
* Valid pick points are of the form p = a*from+b*to where a*b >= 0
* That is, the affine coordinate (b/a) of p on the line with basis (from,to) is non-negative
* @return list of PickResults sorted by distance from foot point
