register hardcoded spline to scene for science

Author: danielcranston

CMakeLists.txt

@@ -75,7 +75,8 @@ target_link_libraries(audio Eigen3::Eigen alure2)
 target_include_directories(audio PUBLIC ${OPENAL_INCLUDE_DIR})
 
 add_library(geometry SHARED src/geometry/geometry.cpp
-                            src/geometry/collision.cpp)
+                            src/geometry/collision.cpp
+                            src/geometry/spline.cpp)
 target_link_libraries(geometry Eigen3::Eigen)
 target_compile_options(geometry PRIVATE -Wall -Wextra -pedantic -Werror)
 

include/ecs/components.h

@@ -6,6 +6,7 @@
 #include <Eigen/Dense>
 
 #include "geometry/geometry.h"
+#include "geometry/spline.h"
 #include "rendering/model.h"
 #include "rendering/texture.h"
 #include "urdf/fighter_input.h"
@@ -105,3 +106,8 @@ struct HealthComponent
 
     void take_damage(const float damage);
 };
+
+struct SplineComponent
+{
+    geometry::CubicBezierCurve curve;
+};

include/ecs/scene.h

@@ -37,6 +37,10 @@ class Scene
     entt::entity register_sound_effect(const std::string buffer_name,
                                        const Eigen::Vector3f,
                                        const Eigen::Quaternionf& orientation);
+    entt::entity register_spline(const Eigen::Vector3f& c0,
+                                 const Eigen::Vector3f& c1,
+                                 const Eigen::Vector3f& c2,
+                                 const Eigen::Vector3f& c3);
 
     entt::registry registry;
     ecs::ResourceManager resource_manager;  // Could be made shared_ptr to allow scenes to share

include/geometry/spline.h

@@ -0,0 +1,29 @@
+#pragma once
+
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
+
+namespace geometry
+{
+
+class CubicBezierCurve
+{
+  public:
+    static constexpr int NUM_SAMPLES = 16;
+
+    CubicBezierCurve(const Eigen::Vector3f& c0,
+                     const Eigen::Vector3f& c1,
+                     const Eigen::Vector3f& c2,
+                     const Eigen::Vector3f& c3);
+
+    Eigen::Vector3f at(const float t) const;
+
+    Eigen::Vector3f project_to_closest_point(const Eigen::Vector3f& pos) const;
+    const Eigen::Matrix<float, NUM_SAMPLES, 3>& get_sample_points() const;
+
+    Eigen::Matrix<float, 4, 3> C;
+
+  private:
+    Eigen::Matrix<float, NUM_SAMPLES, 3> sample_points;
+};
+}  // namespace geometry

src/ecs/scene.cpp

@@ -1,6 +1,7 @@
 #include "ecs/scene.h"
 #include <iostream>
 
+#include "geometry/spline.h"
 #include "resources/load_model.h"
 #include "resources/load_texture.h"
 #include "rendering/primitives.h"
@@ -145,4 +146,16 @@ entt::entity Scene::register_sound_effect(const std::string buffer_name,
     return entity;
 }
 
+entt::entity Scene::register_spline(const Eigen::Vector3f& c0,
+                                    const Eigen::Vector3f& c1,
+                                    const Eigen::Vector3f& c2,
+                                    const Eigen::Vector3f& c3)
+{
+    auto entity = registry.create();
+
+    registry.emplace<SplineComponent>(entity, geometry::CubicBezierCurve(c0, c1, c2, c3));
+
+    return entity;
+}
+
 }  // namespace ecs

src/ecs/systems.cpp

@@ -122,6 +122,16 @@ void render(const Scene& scene, const float t)
 
     glDepthMask(true);
     glDisable(GL_BLEND);
+
+    const auto& shader_spline = resource_manager.get_shader("spline").get();
+    shader_spline.use();
+    shader_spline.setUniformMatrix4fv("camera", T_opengl_ros * camera_matrix);
+
+    for (const auto [entity, spline_component] : scene.registry.view<SplineComponent>().each())
+    {
+        shader_spline.setUniformMatrix3x4fv("C", spline_component.curve.C);
+        glDrawArrays(GL_POINTS, 0, 1);
+    }
 }
 
 void integrate(Scene& scene, const float t, const float dt)

src/main.cpp

@@ -8,6 +8,10 @@ int main(int argc, char* argv[])
     auto context_manager = rendering::ContextManager("Main Window", 1200, 900);
 
     auto scene = ecs::SceneFactory::create_from_scenario("scenario");
+    scene->register_spline(Eigen::Vector3f(0.0f, 0.0f, 0.0f),
+                           Eigen::Vector3f(50.0f, 0.0f, 0.0f),
+                           Eigen::Vector3f(50.0f, 50.0f, 0.0f),
+                           Eigen::Vector3f(100.0f, 50.0f, 0.0f));
 
     float current_time = SDL_GetTicks() / 1000.0f;
     const float dt = 1.0f / 60.f;